Folding wheelchair and folding method thereof

Abstract

The present invention provides a folding wheelchair, comprising a seat cushion assembly, a front wheel assembly and a rear wheel assembly, wherein the upper ends of the front wheel assembly and the rear wheel assembly are rotatably connected to the front connection position and the rear connection position of the seat cushion assembly, respectively, wherein the folding wheelchair also includes a first driving assembly, wherein a first movable member is movably arranged on the seat cushion assembly, and the two ends of a first connecting arm are respectively hinged to the first movable member and the first party of the front wheel assembly and the rear wheel assembly, and a first driving unit is used to drive the first movable member to move forward and backward, whereby the first party can be rotatably unfolded or folded relative to the seat cushion assembly under the driving action of the first connecting arm. The present invention also provides a folding method for a folding wheelchair. The above-mentioned folding wheelchair and folding method can realize automatic folding of the wheelchair.

Description

Technical Field

[0001] The invention provides a folding wheelchair and also provides a folding method of the folding wheelchair. Background Art

[0002] In recent decades, the world peace and the development of medical technology have made countries around the world gradually enter an aging society. Assistive travel equipment for the elderly with mobility retardation has also developed accordingly. After years of development, there are basically two forms, one is a mobility scooter and the other is an electric wheelchair. A mobility scooter has three or four wheels, and uses a handlebar similar to a bicycle to control the direction of travel. The turning radius is large, and it is difficult to operate indoors. It is almost only suitable for outdoor use. Folding mobility scooters almost have no handrails, and the lack of lateral support is not safe for the elderly. In addition, the hand must always hold the handle to control the direction, which is also easy to fatigue. The wheelchair uses a joystick to control the direction, has a small turning radius, and is suitable for indoor and outdoor operations. There are basically two ways to fold the electric wheelchairs on the market. The first is that the two side frames of the wheelchair are folded inward, and the seat cushion needs to be manually removed before folding (if there is a cushion, it needs to be removed. Most of the ones without cushions are a layer of soft fabric, which is very uncomfortable. The backrest is all soft fabric and does not have good lumbar support); the second is to use multiple sets of connecting rod mechanisms for folding. Both methods can achieve the purpose of folding the wheelchair and reduce the volume during transportation and storage. After years of development, the two existing solutions have almost reached their limits. The first solution mentioned above is simple to operate, but the folding method can only reduce the width, and the volume is larger after folding. Although it is not comfortable enough, it is simple to operate. There is no need to bend over, the structure is simple and the price is low, so it still has a certain market now. The second solution mentioned above can reduce the length and height at the same time after folding. Although the folded volume is smaller than the first solution, and because of the design of the soft seat cushion and backrest, the comfort level is much better than the first solution, but most products require users to bend over to operate, and there are many folding steps that require user participation, which is very unfriendly to the elderly or disabled people who need wheelchairs to travel. At present, some manufacturers have introduced the addition of independent electric actuators on the basis of this structure to automate part of the folding process. Although such changes can reduce the inconvenience of user operation, it also increases the weight of the electric actuator and the volume is also increased to a certain extent.

[0003] The present invention is intended to provide a foldable wheelchair that can be folded automatically and a folding method for a foldable wheelchair that can be folded automatically. Summary of the invention

[0004] The purpose of the present invention is to provide a folding wheelchair which can realize automatic folding.

[0005] Another object of the present invention is to provide a folding method that can realize automatic wheelchair folding.

[0006] The present invention provides a folding wheelchair, comprising a seat cushion assembly, a front wheel assembly and a rear wheel assembly, wherein the upper ends of the front wheel assembly and the rear wheel assembly are rotatably connected to the front connection position and the rear connection position of the seat cushion assembly respectively, wherein the folding wheelchair also includes a first driving assembly, wherein the first driving assembly includes: a first movable member, which is movably arranged on the seat cushion assembly forward and backward; a first connecting arm, wherein both ends are respectively hinged to the first movable member and the first party of the front wheel assembly and the rear wheel assembly; and a first driving unit, which is used to drive the first movable member to move forward and backward, whereby the first party can be rotatably unfolded or folded relative to the seat cushion assembly under the driving action of the first connecting arm.

[0007] The present invention also provides a folding method for a folding wheelchair, the folding wheelchair comprising a seat cushion assembly, a front wheel assembly and a rear wheel assembly, the folding method comprising: starting from a front and rear wheel unfolding state C11, in a state where a front roller of the front wheel assembly and a rear roller of the rear wheel assembly are supported on a supporting surface, a first side of the front wheel assembly and a rear wheel assembly rotates and folds toward the seat cushion assembly around a first rotation axis until a first intermediate state C17 is reached where the first side is horizontally supported on the supporting surface, wherein the first rotation axis is provided at a connection between the first side and the seat cushion assembly; starting from the first intermediate state C17, in a state where the first side is horizontally supported on the supporting surface, the seat cushion assembly rotates and unfolds relative to the first side around the first rotation axis, and at the same time, a second side of the front wheel assembly and the rear wheel assembly rotates and folds relative to the seat cushion assembly around a second rotation axis until a first folding state C20 is reached where an end of the seat cushion assembly close to a position where the first rotation axis is located is supported on the supporting surface, wherein The second rotation axis is set at the connection between the second side and the cushion assembly; from the first folded state C20, when the end of the cushion assembly is supported on the supporting surface, the first side is rotated around the first rotation axis toward the cushion assembly and folded to the second folded state C23.

[0008] The folding wheelchair can be folded automatically by driving the movable parts to move forward and backward through the connecting arm, and the front wheel assembly or the rear wheel assembly can be driven to fold relative to the seat cushion assembly through the driving unit. Moreover, during the folding process, especially in step S2 of the folding method mentioned above, the connecting arm can play an auxiliary supporting role for the entire seat cushion assembly and the rear wheel assembly.

[0009] The above-mentioned folding method realizes the adjustment of the center of gravity of the wheelchair by rotating and folding the front wheel assembly relative to the seat cushion assembly to a predetermined angle, and then unfolding the seat cushion assembly relative to the front wheel assembly while rotating and folding the rear wheel assembly relative to the seat cushion assembly. The automatic folding can be completed without the help of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0011] Figure 1 is a perspective view of an exemplary folding wheelchair according to the present invention.

[0012] Figure 2 is an exploded view of an exemplary folding wheelchair.

[0013] Figure 3 is a partially exploded view of an exemplary folding wheelchair.

[0014] Figure 4A is a side view of an exemplary front wheel assembly in one attitude.

[0015] Figure 4B The pedal assembly is in Figure 4A Stereoscopic diagram of posture.

[0016] Figure 5A and Figure 5B 1 and 2 are a side view and a perspective view, respectively, of an exemplary front wheel assembly in another posture.

[0017] Figure 6 is a side view of an exemplary front wheel assembly in yet another posture.

[0018] Fig. 7A and Figure 7B The three-dimensional images are respectively from two angles when the backrest assembly is in a fully opened normal use state.

[0019] Fig. 8A and Figure 8B The three-dimensional images are respectively of the backrest assembly in a completely folded storage state when viewed from two angles.

[0020] Fig. 9A and Fig. 9B exemplarily shows a side view of the armrest assembly when the armrest folding assembly is in two intermediate states, wherein: Fig. 9B The intermediate state compared to Fig. 9A The intermediate state is closer to the folded state.

[0021] Fig. 10A , Fig. 10B and Fig. 10C All of them are schematic diagrams showing that the handrail is inverted. Fig. 10A In the process, the lock hook hooks the hinge shaft and the armrest folding assembly is in the unfolded state. Fig. 10B In the process, the lock hook is disengaged from the hinge shaft and the armrest folding assembly is in the unfolded state. Fig. 10C In the embodiment of the present invention, the locking hook is disengaged from the hinge shaft and the armrest folding assembly is in a folded state.

[0022] Fig.11A , Fig. 11B and Fig. 11C are schematic diagrams showing exemplary armrest locking assemblies. Fig.11A is locked in Fig. 11B is unlocked, Fig. 11C Schematic diagram of another unlocked state.

[0023] Fig.12 Schematic diagram showing the cooperation between the backrest locking assembly and the backrest assembly.

[0024] Fig.13 is a schematic diagram exemplarily showing an unlocking component.

[0025] Fig.14 Schematic diagram showing the cooperation between the unlocking assembly and the locking support.

[0026] Fig.15 is another schematic diagram exemplarily showing the cooperation between the backrest locking assembly and the backrest assembly.

[0027] Fig.16A , Fig. 16B and Fig. 16C The schematic diagrams exemplarily show the backrest assembly in the backrest unfolded position, the backrest middle position and the backrest folded position respectively.

[0028] Fig.17 is a schematic diagram exemplarily showing a backrest assembly in a handlebar deployed position.

[0029] Fig.18 is a schematic diagram exemplarily showing a foldable wheelchair in a luggage compartment mode.

[0030] FIG. 19A to FIG. 19C is a schematic diagram showing the state change of an exemplary folding process of a control component of a folding wheelchair, Fig.19A In the figure, the folding wheelchair is in the fully unfolded state.

[0031] Fig.19D It is shown in Fig.19C Schematic diagram of the unlocking operation of the armrest locking assembly of the foldable wheelchair after the state.

[0032] FIG. 19E to FIG. 19H It is shown Fig.19D Schematic diagram of state changes of an exemplary folding process of the armrest assembly of the wheelchair after folding the state.

[0033] FIG. 19I to FIG. 19K It is shown Fig.19H Schematic diagram of state changes of an exemplary folding process of a back cushion of a backrest assembly of a wheelchair after being folded into a state.

[0034] Figure 19L to Figure 19V It is shown Figure 19K Schematic diagram of state changes of an exemplary folding process of a leg assembly of a foldable wheelchair after the state of .

[0035] Fig. 20 It is an example showing Figure 19V Schematic diagram of the folding wheelchair in a fully folded state after the state.

[0036] FIG. 21A to FIG. 21I A schematic diagram schematically shows a state change of an exemplary unfolding process of a chair leg assembly of a folding wheelchair, wherein: Fig.21A Shown from Fig. 20 The state after the expansion begins. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with specific implementation methods and accompanying drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from this description. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific implementation method.

[0038] For example, a first feature described later in the specification as being formed above or on a second feature may include an embodiment in which the first feature and the second feature are formed by direct connection, and may also include an embodiment in which an additional feature is formed between the first feature and the second feature, so that the first feature and the second feature may not be directly connected. Further, when a first element is described as being connected or combined with a second element, the description includes an embodiment in which the first element and the second element are directly connected or combined with each other, and also includes an embodiment in which one or more other intervening elements are added to indirectly connect or combine the first element and the second element.

[0039] The folding wheelchair and the folding method of the folding wheelchair according to the present invention will be described exemplarily below.

[0040] 1. Folding wheelchair 800

[0041] Figure 1 and Figure 2 An exemplary overall configuration of a folding wheelchair 800 is shown, wherein: Figure 1 is a three-dimensional schematic diagram of a folding wheelchair 800. Figure 2 800 is an exploded schematic diagram of a folding wheelchair. Each part will be described exemplarily below. It should be understood that the drawings are only for illustration and should not limit the actual protection scope of the present invention.

[0042] refer to Figure 1and Figure 2 The folding wheelchair 800 may include a seat cushion assembly 80. It is understood that the seat cushion assembly 80 may provide a seat cushion 802 for the user to sit on, and the seat cushion assembly 80 may also include a seat cushion bracket 801 supporting the seat cushion 802, and the seat cushion bracket 801 may also be referred to as a main frame of the folding wheelchair 800. In the illustrated embodiment, the folding wheelchair 800 may include a front wheel assembly 10, a rear wheel assembly 20, and may also include a backrest assembly 30, a handrail assembly 40, and the like.

[0043] For the convenience of description, spatial relation words such as "lower", "upper", "front", "back", "left", "right", etc. may be used to describe the relationship between one element or feature shown in the drawings and other elements or features. It is understood that the directions in the text are based on the folding wheelchair 800 being in a normal use state (such as the folding wheelchair 800 is fully unfolded at all places for the user to sit on) Fig.19A For example, the “side” may be the left or right side of the user at this time, and the “top”, “bottom”, “front”, “back”, etc. are also used as references at this time. Fig.19A In the figure, the folding wheelchair 800 is supported on a support surface G0 by the front roller 11 and the rear roller 21, and the support surface G0 is, for example, the ground. In addition, unless otherwise stated, the extension along a specific direction in the text does not require strict compliance with the definition in the mathematical sense, but requires that the extension direction must have a component in the specific direction. Preferably, the angle between the extension direction and the specific direction is less than 45°. It should be understood that these spatial relationship terms are intended to include other directions of elements or components in use or operation other than the directions depicted in the drawings. For example, if the components in the drawings are folded, especially when the folding wheelchair 800 of the present invention can be folded, the direction of the elements described as "below" other elements or features will be changed to "above" the other elements or features. For example, during the folding process of the folding wheelchair 800 of the present invention, the components located on the front side will become located on the bottom side. Therefore, the spatial relationship descriptors used in the text should be interpreted accordingly.

[0044] 1. Chair leg assembly

[0045] The folding wheelchair 800 may include a front wheel assembly 10 and a rear wheel assembly 20. In the illustrated embodiment, the upper ends of the front wheel assembly 10 and the rear wheel assembly 20 are rotatably connected to the front connection position P1 and the rear connection position P2 of the seat cushion assembly 80, respectively. It can be understood that the "front connection position P1" and the "rear connection position P2" here are relative to each other, meaning that in the aforementioned conventional use state (or, fully unfolded state), the front connection position P1 is before the rear connection position P2 or the rear connection position P2 is after the front connection position P1.

[0046] The front wheel assembly 10 and the rear wheel assembly 20 can be collectively referred to as a chair leg assembly. It can be understood that the chair wheel assembly can include other components.

[0047] It can be understood that the front wheel assembly 10 includes the front roller 11 of the folding wheelchair 800, for example Figure 1 The front wheel assembly 10 further includes two front rollers 11 located on the left and right sides. The front wheel assembly 10 may further include a front wheel frame 12 supporting the front rollers 11, and the front wheel assembly 10 may be rotatably connected to the seat cushion assembly 80 via the upper end of the front wheel frame 12. The front wheel frame 12 may also be referred to as a front leg or a front chair leg, and may rollably support the front rollers 11 via a front fork 122 connected via a suspension 121. The front wheel assembly 10 may be in a front wheel deployment position P121 (such as Figure 19K ) and the front wheel folding position P122 (as shown Fig. 20 The included angle α12 between the front wheel frame 12 and the seat cushion assembly 80 is Figure 19U As shown in FIG. 1 , in the front wheel deployed position P121 , the angle α12 may be, for example, 80-100°, and in the front wheel folded position P122 , the angle α12 may be, for example, -10-10°.

[0048] The rear wheel assembly 20 includes a rear roller 21 of the folding wheelchair 800, for example Figure 1 The rear wheel assembly 10 further includes two rear rollers 21 located on the left and right sides. The rear wheel assembly 10 may further include a rear wheel frame 22 supporting the rear rollers 21, and the rear wheel assembly 20 may be rotatably connected to the seat cushion assembly 80 through the upper end of the rear wheel frame 22. The rear wheel frame 22 may also be referred to as a rear leg or a rear chair leg, for example, in a dog-leg shape, and the lower end of the rear wheel frame 22 may rotatably support the rear rollers 21.

[0049] It is understood that specific words are used herein to describe the embodiments of the present invention, such as "one embodiment", "an embodiment" and / or "another embodiment" means a certain feature, structure or characteristic related to at least one embodiment of the present invention. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" mentioned twice or more in different places in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of the present invention may be appropriately combined. In addition, the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0050] In the illustrated embodiment, the chair leg assembly may further include a driving device, which may drive the front wheel assembly 10 and / or the rear wheel assembly 20 to rotate, fold or unfold relative to the seat cushion assembly 80 .

[0051] An exemplary description will be given below for each part of the chair leg assembly.

[0052] 1.1. Driving device

[0053] The driving device may include a first driving assembly 100 and / or a second driving assembly 200, which are respectively used to drive the first side (the front wheel assembly 10 is taken as an example in the text) and / or the second side (the rear wheel assembly 20 is taken as an example in the text) of the front wheel assembly 10 and the rear wheel assembly 20. Figures 1 to 3 The drive device is described by way of example.

[0054] The first driving assembly 100 may include a first movable member 101 and a first connecting arm 102. The first movable member 101 is movably disposed on the seat cushion assembly 80. As mentioned above, the front and rear are relative to each other. Fig.19A In terms of the normal use state, during the folding process, the "forward and backward movement" of the first movable member 101 becomes movement toward the upper or lower direction. The two ends of the first connecting arm 102 are respectively hinged to the first movable member 101 and the aforementioned first party (in the illustrated embodiment, the front wheel assembly 10). The first movable member 101 moves forward and backward, whereby the front wheel assembly 10 (as an example of the aforementioned first party) drives the first connecting arm 102 through the first movable member 101 to rotate relative to the seat cushion assembly 80 to unfold or fold.

[0055] The first driving assembly 100 may also include a first driving unit 103, which is used to drive the first movable member 101 to move forward and backward, whereby the front wheel assembly 10 (as an example of the first party mentioned above) can be rotated, unfolded or folded relative to the cushion assembly 80 under the driving action of the first connecting arm 102. In the illustrated embodiment, the first driving unit 103 may be, for example, a rotary driving source (for example, a rotary motor) that can output a rotary motion, and the rotary driving source may drive the first movable member 101 to move forward and backward through a screw transmission mechanism. The screw transmission mechanism may include a first screw 105 and (for example, two) first sliding rods 106, and the first movable member 101 may be threadedly connected to the first screw 105 and be sleeved on the first sliding rod 106, so that the rotary driving source of the first driving unit 103 outputs a rotary motion, drives the first screw 105 to rotate, and the first movable member 101 may slide forward and backward under the guidance of the first sliding rod 106, so that the front wheel assembly 10 is rotated, unfolded or folded relative to the cushion assembly 80 under the driving action of the first connecting arm 102.

[0056] The second driving assembly 200 may include a second movable member 201 and a second connecting arm 202. The second movable member 201 is disposed on the seat cushion assembly 80 so as to be movable forward and backward. The two ends of the second connecting arm 202 are respectively hinged to the second movable member 201 and the aforementioned second party (the rear wheel assembly 20 in the illustrated embodiment). The second movable member 201 moves forward and backward, whereby the rear wheel assembly 20 (as an example of the aforementioned second party) drives the second connecting arm 202 through the second movable member 201 to rotate, unfold or fold relative to the seat cushion assembly 80.

[0057] The second driving assembly 200 may also include a second driving unit 203, which is used to drive the second movable member 201 to move forward and backward, whereby the rear wheel assembly 20 (as an example of the second party mentioned above) can be rotated, folded or unfolded relative to the cushion assembly 80 under the driving action of the second connecting arm 202. In the illustrated embodiment, the second driving unit 203 may be, for example, a rotary driving source (for example, a rotary motor) that can output rotary motion, and the rotary driving source may drive the second movable member 201 to move forward and backward through a screw transmission mechanism. The screw transmission mechanism may include a second screw 205 and (for example, two) second sliding rods 206, and the second movable member 201 may be threadedly connected to the second screw 205 and be sleeved on the second sliding rod 206, so that the rotary driving source of the second driving unit 203 outputs rotary motion, drives the second screw 205 to rotate, and the second movable member 201 may slide forward and backward under the guidance of the second sliding rod 206, so that the rear wheel assembly 20 is rotated, folded or unfolded relative to the cushion assembly 80 under the driving action of the second connecting arm 202.

[0058] In the illustrated embodiment, the seat cushion assembly 80 may include a lower guide rod 104 and an upper guide rod 204. The lower guide rod 104 may be considered as a first screw rod 105 and / or a first slide rod 106. The upper guide rod 204 may be considered as a second screw rod 205 and / or a second slide rod 206. The lower guide rod 104 and the upper guide rod 204 both extend forward and backward and are arranged at the middle position of the seat cushion assembly 80 in the left and right directions. The first movable member 101 may be movably arranged on the lower guide rod 104 forward and backward, and the second movable member 201 may be movably arranged on the upper guide rod 204 forward and backward. This arrangement is conducive to freeing up space on the left and right sides of the lower guide rod 104 and the upper guide rod 204 to arrange the front wheel assembly 10 and the rear wheel assembly 20 of the folding wheelchair 800 after folding, so that the overall arrangement is more compact.

[0059] In the illustrated embodiment, the driving device of the folding wheelchair 800 may further include a position detection unit (not shown) for detecting the movement position of the first movable member 101 and / or the second movable member 201. The position detection unit may be, for example, a position sensor. For example, in the illustrated embodiment, three proximity sensors may be included for the first movable member 101 to respectively detect whether the first movable member 101 moves to the two end positions and the middle position. For another example, two proximity sensors may be included for the second movable member 201 to respectively detect whether the second movable member 201 moves to the two end positions.

[0060] The driving device of the folding wheelchair 800 may also include a controller (not shown), which can transmit a control signal to the first driving unit 103 and / or the second driving unit 203 based on the motion position detected by the aforementioned position detection unit, such as stopping driving, reverse driving or speed-changing driving, etc. The specific control signal will be described in detail later. The controller includes one or more hardware processors, such as a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an application-specific integrated circuit (ASIC), an application-specific instruction integrated processor (ASIP), a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a microcontroller unit, a digital signal processor (DSP), a field programmable gate array (FPGA), an advanced RISC machine (ARM), a programmable logic device (PLD), any circuit or processor capable of performing one or more functions, and a combination of one or more of the above.

[0061] The drive device may also include a remote control handle that can transmit control signals to the controller. The drive device may also include a rechargeable battery pack that provides electrical power to other components of the drive device.

[0062] 1.2, front wheel assembly 10

[0063] In the illustrated embodiment, the front wheel assembly 10 may further include a pedal assembly 50. Figure 3 to Figure 6 And combined with Figure 1 and Figure 2 An exemplary description will be made with respect to the pedal assembly 50 .

[0064] In the illustrated embodiment, the pedal assembly 50 may include a footrest assembly 51. The footrest assembly 51 may include a pedal arm 52 and a footrest 53. The upper end of the pedal arm 52 may be rotatably disposed on the front wheel frame 12, that is, the pedal arm 52 may rotate relative to the front wheel frame 12. The footrest 53 may be connected to the lower end of the pedal arm 52. In the illustrated embodiment, the footrest 53 may have a connecting portion 531, and may be rotatably connected to (the lower end of) the pedal arm 52 through the connecting portion 531.

[0065] In the illustrated embodiment, the pedal assembly 50 may further include a rolling wheel 54 disposed on the footrest assembly 51. The rolling wheel 54 may be configured to roll and contact the support surface G0 during the process of the front wheel frame 12 of the front wheel assembly 10 rotating and folding relative to the seat cushion assembly 80, such as Fig.19M and Fig.19N As shown, this will be further described later. It is understood that the rolling wheel 54 is not required to roll in contact with the support surface G0 throughout the entire process of the front wheel frame 12 rotating and folding relative to the seat cushion assembly 80, but can roll in contact with the support surface G0 for at least a period of time during this process. Figure 19K The status switches to Figure 19L Before the state, the front wheel frame 12 of the front wheel assembly 10 is rotated and folded relative to the seat cushion assembly 80, however, the pedal assembly 50 as a whole does not contact the support surface G0 until Figure 19L In other words, the rolling wheel 54 is configured to be closer to the contact position with the support surface G0 relative to the connecting portion 531 and / or the pedal arm 52 during the folding process of the pedal assembly 50. Figures 19M to 20 In the illustrated embodiment, when the pedal assembly 50 is in any state, the rolling wheel 54 is in a position closer to the support surface G0 relative to the connection portion 531, the pedal arm 52, and even the front wheel frame 12, so as to avoid direct wear of the connection portion 531, the pedal arm 52, or the front wheel frame 12 with the support surface G0 during the folding process, thereby preventing damage to the support surface G0 or the components of the folding wheelchair 800. In the illustrated embodiment, the rolling wheel 54 is disposed at the connection between the pedal arm 52 and the foot pedal 53 of the foot pedal assembly 51, and the rolling center of the rolling wheel 54 relative to the foot pedal assembly 51 is consistent with the rotation center of the foot pedal 53 (the connection portion 531) relative to the pedal arm 52, for example, the rolling wheel 54, the connection portion 531 of the foot pedal 53) and the pedal arm 52 are connected by the same hinge shaft H51.

[0066] As mentioned above, the front wheel assembly 10 is the aforementioned first party, and can be driven by the first driving assembly 100 to rotate and fold relative to the seat cushion assembly 80. By adopting the above-mentioned pedal assembly 50, during the process of rotating and folding the front wheel assembly 10 relative to the seat cushion assembly 80, which will be described in detail later, the rolling wheel 54 can roll forward on the support surface G0, driving the pedal arm 52 to rotate and unfold relative to the front wheel frame 12, and not only the unfolding and folding state between the pedal arm 52 and the foot pedal 53 in the pedal assembly 50 can be changed, which is convenient for subsequent folding. In this process, the pedal assembly 50 can roll and rub the support surface G0 through the rolling wheel 54, thereby reducing the friction and wear generated between the folding wheelchair 800 components and the ground, and can also play an auxiliary supporting role.

[0067] In the illustrated embodiment, the pedal arm 52 may be provided with a mounting hole 521 whose cross section has an extension direction L52. In other words, the cross section of the mounting hole 521 is a shape having an extension direction L52, such as a bar-shaped hole or a rectangular hole, and the extension direction L52 may also be referred to as the length direction of the cross section of the mounting hole 521. The mounting hole 521 may be opened through the pedal arm 52 as shown in the figure. It is understood that the extension direction L52 of the mounting hole 521 mentioned here may be considered as the extension direction of the maximum inner diameter of the mounting hole 521 in the plane where the side wall of the pedal arm 52 is located (the paper surface of FIG. 4A ).

[0068] As mentioned above, the foot pedal 53 can be rotatably connected to the pedal arm 52 via the connecting portion 531, whereby the foot pedal 53 can be rotated relative to the pedal arm 52 to a first pedal deployment position P531 for a user to step on. Figure 4A and Figure 4B As shown. Among them, Figure 4A is a side view of the front wheel assembly 10 when the foot pedal 53 is in the first pedal deployment position P531 relative to the pedal arm 52, Figure 4B 5 is a perspective view of the pedal assembly 50 when the foot pedal 53 is in the first pedal deployment position P531 relative to the pedal arm 52. That is, the relative position relationship between the pedal arm 52 and the foot pedal 53 is adjusted by rotating the connecting portion 531. For example, the foot pedal 53 can be rotated to the first pedal deployment position P531 relative to the pedal arm 52. The connecting portion 531 may also have a deployment matching portion 531a for locking the foot pedal 53 in the first pedal deployment position P531 relative to the pedal arm 52, which will be described later.

[0069] In the illustrated embodiment, the pedal assembly 50 may further include a limiting device 55. The limiting device 55 may include a limiting rod 56 and a limiting elastic member 57. The limiting rod 56 may movably penetrate the mounting hole 521 of the pedal arm 52 along the elongation direction L52 of the mounting hole 521. The elastic force of the limiting elastic member 57 has a tendency to make the limiting rod 57 move along the elongation direction L52 to abut against the side wall of the mounting hole 521, whereby the limiting rod 57 cooperates with the unfolding matching portion 531a of the connecting portion 531, so that the foot pedal 53 is maintained at the first pedal unfolding position P531 relative to the pedal arm 52. In the first pedal unfolding position P531, for example, the angle α53 between the foot pedal 53 and the pedal arm 52 may be, for example, 105° to 135°, including the end value, and the pedal unfolding state of the foot pedal 53 and the pedal arm 52 within the angle range is more convenient for the user to place the foot on the foot pedal 53.

[0070] In the illustrated embodiment, the foot pedal 53 may be configured to be rotatable relative to the pedal arm 52 to a pedal folded position P532. Figure 5A and Figure 5B As shown. Among them, Figure 5A is a side view of the front wheel assembly 10 when the foot pedal 53 is in the pedal folded position P532 relative to the pedal arm 52, Figure 5B 1 is a perspective view of the front wheel assembly 10 when the foot pedal 53 is in the pedal folded position P532 relative to the pedal arm 52. In the pedal folded position P532, for example, the angle α53 between the foot pedal 53 and the pedal arm 52 may be, for example, 85-95°. The pedal folded state of the foot pedal 53 and the pedal arm 52 within the angle range makes the pedal assembly 50 easier to fold and store, which is also helpful for the folding process of the folding wheelchair 800 which will be described in detail later.

[0071] exist Figure 4A and Figure 4B In the illustrated embodiment, the footrest 53 is in a first footrest deployment position P531 relative to the pedal arm 52. When the pedal assembly 50 is assembled in the folding wheelchair 800, the pedal arm 52 and the footrest 53 in the first footrest deployment position P531 are suitable for the user to place his feet on the footrest 53, for example. FIG. 19A to FIG. 19K As shown. Figure 5A and Figure 5B In the embodiment shown, the footrest 53 is at the pedal folded position P532 relative to the pedal arm 52. When the pedal assembly 50 is assembled in the folding wheelchair 800, the pedal arm 52 and the footrest 53 at the pedal folded position P532 will occupy a relatively small space, which is convenient for storage and transportation. Fig. 20 shown.

[0072] The limiting device 55 may further include a limiting member 58. The limiting member 58 may be connected to the limiting member 56 and may be rotatably disposed on the pedal arm 52, for example, via a hinge shaft H58. The connecting portion 531 further includes a retractable mating portion 531b. When the foot pedal 53 is located at the pedal retracted position P532, the limiting member 58 is mated with the retractable mating portion 531b of the connecting portion 531, so that the foot pedal 53 is maintained at the pedal retracted position P532.

[0073] In the illustrated embodiment, the limiting rod 56 is assembled on the pedal arm 52 through the mounting hole 521. In the assembled state, the limiting rod 56 is arranged to penetrate the pedal arm 52 and has an end protruding after penetrating the pedal arm 52. At the same time, the mounting hole 521 can be in the shape of an elongated hole, and the shape is arranged so that the limiting rod 56 installed on the pedal arm 52 can move along the elongation direction L52 of the mounting hole 521. At the same time, the limiting rod 56 is supported by the limiting elastic member 57 in the elongation direction L52 of the mounting hole 521, so that in the illustrated embodiment, the elastically supported limiting rod 56 is elastically pressed against the side wall of the mounting hole 521 on the elongation direction L52 in the mounting hole 521. For example, in the illustrated embodiment, the limiting elastic member 57 can be arranged inside the pedal arm 52, which is easy to ensure that the limiting elastic member 57 does not interfere with other components during the movement of the limiting rod 56. It can be understood that in another embodiment, the limiting elastic member 57 can also be arranged outside the pedal arm 52. In the illustrated embodiment, the limiting elastic member 57 may be a compression coil spring, with two ends connected to the limiting rod 56 and the pedal arm 52, respectively. When a force is applied to the limiting rod 56, the limiting elastic member 57 can be elastically compressed, and the limiting rod 56 moves from the aforementioned side wall of the mounting hole 521 on the extension direction L52 toward the other side wall on the extension direction L52. At the same time, during the movement, the limiting elastic member 57 allows the limiting rod 56 to always maintain a tendency to move toward the aforementioned side wall. It can be understood that in another embodiment, the limiting elastic member 57 may also be a tension spring.

[0074] The stopper 58 and the connecting portion 531 of the pedal 53 are located on the same side of the pedal arm 52. Specifically, in the illustrated embodiment, the stopper 58 and the connecting portion 531 are located on the relatively outer side of the pedal arm 52 in the assembled state. It is understood that in another embodiment, the stopper 58 and the connecting portion 531 may also be located on the relatively inner side of the pedal arm 52 in the assembled state. The stopper 58 can rotate relative to the pedal arm 52 and is connected to the stopper rod 56. Figure 4B The limit member 58 may be provided with a connecting hole 580, and the limit rod 56 is passed through the connecting hole 580. When the limit rod 56 moves in the mounting hole 521 along its extension direction L52, it can drive the limit member 58 to move, so that the limit member 58 rotates with the connection with the pedal arm 52 (in the figure, the hinge shaft H58) as the rotation center.

[0075] exist Figure 4A and Figure 4BIn the first pedal deployment position P531 shown in FIG. 1 , the limiting rod 56 of the limiting device 55 is elastically supported by the limiting elastic member 57 and is connected to the deployment matching portion 531a of the connecting portion 531 of the pedal board 53, so that the limiting rod 56 and the deployment matching portion 531a jointly limit the relative rotation between the pedal arm 52 and the pedal board 53. Specifically, the elastically supported connection means that when the limiting rod 56 is in a state of being limited by the deployment matching portion 531a, the limiting rod 56 is elastically supported by the limiting elastic member 57 and is in a state of being connected to the deployment matching portion 531a in the elastically supported state. For example, when the limiting rod 56 is in a state of being limited by the deployment matching portion 531a, the compression coil spring as the limiting elastic member 57 may be in a state of being slightly elastically compressed, so that it has a tendency to elastically press against the limiting rod 56 toward the deployment matching portion 531a. Applying force to the limiting rod 56 causes the limiting elastic member 57 to be further elastically compressed, thereby allowing the limiting rod 56 to release the matching state with the unfolding matching portion 531a, and allowing the pedal arm 52 and the foot pedal 53 to rotate relative to each other. In the illustrated embodiment, the connecting portion 531 can be disposed at one end of the limiting rod 56 after it passes through the pedal arm 52, and is limited by the end. In another embodiment, the connecting portion 531 can also be disposed on the inner side of the pedal arm 52, and is limited by the rod body of the limiting rod 56.

[0076] exist Figure 5A and Figure 5B In the pedal folded position P532 shown in FIG. 1 , the limiter 58 of the limiter device 55 cooperates with the folding matching portion 531b of the connecting portion 531 of the pedal 53 to limit the relative rotation between the pedal 53 and the pedal arm 52. A force is applied to the limiter rod 56, so that the limiter rod 56 moves along the elongation direction L52 of the mounting hole 521, and the matching state between the limiter rod 56 and the unfolding matching portion 531a is released. At this time, the pedal 53 and the pedal arm 52 can rotate relative to each other until the pedal 53 and the pedal arm 52 move to the extension direction L52. Figure 5A and Figure 5B When the pedal is in the folded position P532 shown in the figure, the limit member 58 cooperates with the folding fitting portion 531b to limit the position. Since the limit rod 56 is fixed in the mounting hole 521, the limit member 58 will not rotate with the connection between it and the pedal arm 52 (in the figure, the hinge shaft H58) as the rotation center. Therefore, it can be ensured that no matter which direction the foot pedal 53 rotates relative to the pedal arm 52, the limit member 58 and the folding fitting portion 531b are both against each other, so as to maintain the foot pedal 53 in the folded position P532 relative to the pedal arm 52.

[0077] In the above-mentioned pedal assembly 50, a matching connecting portion 531, a limiting member 58 and a limiting rod 56 are provided. By operating the single component limiting rod 56, the relative position relationship between the foot pedal 53 and the pedal arm 52 in the pedal assembly 50 can be adjusted and limited. The operation is simple and can provide a good foundation for realizing the automatic folding of the folding wheelchair 800.

[0078] As described above, the upper end of the pedal arm 52 can be rotatably disposed on the front wheel frame 12, and thus, the pedal arm 52 can be configured to be rotatable and retractable relative to the front wheel frame 12 to the pedal retracted position P522.

[0079] In the illustrated embodiment, the front wheel frame 12 may include a force-applying portion 123, for example, the force-applying portion 123 may be in the form of a pressure edge. At the pedal folded position P522, the force-applying portion 123 of the front wheel frame 12 may apply force to the limit rod 56, so that the limit rod 56 overcomes the elastic force of the limit elastic member 57 and disengages from the unfolding matching portion 531a of the connecting portion 531, thereby allowing the pedal 53 to rotate relative to the pedal arm 52. That is, when the pedal arm 52 rotates and folds relative to the front wheel frame 12 to the pedal folded position P522, the force-applying portion 123 of the front wheel frame 12 may, for example, contact the limit rod 56 and apply a pressing force to the limit rod 56, so that the limit rod 56 can release the cooperation with the unfolding matching portion 531a of the connecting portion 531, thereby releasing the limit locking effect of the pedal 53 relative to the pedal arm 52 to maintain it at the first pedal unfolding position P531. Therefore, the connecting portion 531, that is, the foot pedal 53, can rotate freely relative to the pedal arm 52. Figure 19P What is shown is the state when the pedal arm 52 is rotated and folded to (or close to) the pedal folded position P522 relative to the front wheel frame 12, and the pressure edge of the force-applying portion 123 presses the limit rod 56 away from the unfolding matching portion 531a of the connecting portion 531, so that under the action of gravity, the foot pedal 53 is rotated and unfolded from the first pedal unfolding position P531 relative to the pedal arm 52 to a flush position where the foot pedal 53 is roughly flush with the supporting surface G0. This position can also be referred to as the second pedal unfolding position P533 of the foot pedal 53 relative to the pedal arm 52.

[0080] In the illustrated embodiment, the connecting portion 531 of the foot pedal 53 may also have a second matching portion 531c. Applying force to the limiting rod 56 causes the limiting elastic member 57 elastically supporting the limiting rod 56 to be elastically compressed or stretched, thereby releasing the matching state between the limiting rod 56 and the unfolding matching portion 531a, thereby allowing the foot pedal 53 to rotate relative to the pedal arm 52 to Figure 6The flush position shown is the aforementioned second pedal deployment position P533. In the second pedal deployment position P533, the limit rod 56 can abut against the second matching portion 531c to jointly limit the continued rotation of the foot pedal 53 relative to the pedal arm 52. The flushness of the foot pedal 53 and the pedal arm 52 can be understood as the movement of the foot pedal 53 to the second pedal deployment position P533 where the two have the same extension direction, and the angle α53 between the foot pedal 53 and the pedal arm 52 can be close to 180°, for example, it can be 175° to 185°. In the second pedal deployment position P533, when it is necessary to fold the pedal assembly 50 or the folding wheelchair 800 in which it is assembled, the foot pedal 53 can provide the avoidance space required for folding to prevent interference with other components during the folding process.

[0081] It can be understood that, as mentioned above, during the actual folding process, when the stopper rod 56 and the unfolding matching portion 531a are released from the matching limiting state, the footrest 53 can move to a substantially flush position by gravity and abut against the support surface G0. Therefore, the second matching portion 531c may not be provided in the connecting portion 531, and the footrest 53 can be directly maintained at the substantially second footrest unfolding position P533 by relying on the support surface G0.

[0082] FIG. 4A to FIG. 6 In the illustrated embodiment, the folding matching portion 531b and / or the second matching portion 531c may be a convex portion protruding from the connecting portion 531, and the convex portion may be a protrusion protruding outward from the outer periphery of the connecting portion 531 as shown in the figure. The folding matching portion 531b in the shape of a convex portion is connected to the limiting member 58 by snapping, and the second matching portion 531c in the shape of a convex portion is in contact with the limiting rod 56 and is limited by the limiting rod 56. The unfolding matching portion 531a may be a notch provided in the connecting portion 531, and the notch may be formed by being recessed from the outer peripheral edge of the connecting portion 531 to the inner side of the connecting portion 531 as shown in the figure. By inserting at least a part (such as the rod body or the end) of the limiting rod 56 into the groove-shaped unfolding matching portion 531a, the limiting rod 56 and the connecting portion 531 are matched and limited, and by applying force to the limiting rod 56, it can be disengaged from the notch, thereby releasing the limited state.

[0083] Figures 3 to 6In the illustrated embodiment, the limit member 58 may have a hook portion 581, which may protrude from the limit member body 582, and the limit member body 582 may be provided with a connecting hole 580 for mating with the limit rod 56. The extension direction of the hook portion 581 and the extension direction of the limit member body 582 may have an angle, so that when the limit member body 582 is driven by the limit rod 56 to rotate around the hinge shaft H58, the hook portion 581 will also rotate accordingly. The hook portion 581 may be an elastic component that can be deformed when subjected to external force, so that it can be snapped or disengaged with the convex-shaped retractable mating portion 531b. For example, see Figure 4A When the connecting portion 531 of the footrest 53 rotates in the clockwise direction as shown in the figure, the folding matching portion 531b can abut against the upper end surface of the hook body of the hook portion 581, so that the hook portion 581 is bent downward as a whole, and the folding matching portion 531b is snapped into the hook portion 581, thereby completing the buckle. Figure 5A When the connecting portion 531 rotates in the counterclockwise direction shown in the figure, the retracted matching portion 531b can push against the lower end surface of the hook body of the hook portion 581, so that the hook body is deformed upward as a whole, and the retracted matching portion 531b is disengaged from the hook portion 581 to complete the release. For example, the hook portion 581 can be made of plastic with a certain elasticity, and for another example, the limiting member 58 is configured as an elastic component as a whole.

[0084] See also Figure 4A and Figure 5A The hook portion 581 may have an upper end surface 581a, when the pedal 53 is relative to the pedal arm 52 from the first pedal deployment position P531 ( Figure 4A ) moves to the pedal folding position P532 (FIG. 5A), that is, when the folding fitting portion 531b moves from the unfastened state to the state of being fastened with the hook portion 581, the upper end surface 581a is the surface that first contacts the folding fitting portion 531b. The upper end surface 581a can be configured as an inclined surface. For example, the hook portion 581 can have a hook arm 581b and a hook body 581c. The upper end surface 581a is inclined from a side close to the hook arm 581b toward a side close to the hook body 581c. When the upper end surface 581a contacts the folding fitting portion 531b, the inclined upper end surface 581a can be matched with the inclined surface of the folding fitting portion 531b, so that the hook portion 581 is deformed, so that the folding fitting portion 531b is more easily engaged with the hook body 581c.

[0085] See also Figure 4A and Figure 5A, the pedal arms 52 may be a pair of pedal arms 50 as shown in the figure. The foot pedal 53 may extend laterally (or left-right direction), and the connecting portion 531 may be two connecting portions 531 spaced apart from each other laterally. The two connecting portions 531 are respectively hinged to a pair of pedal arms 52. In the figure, the two connecting portions 531 are respectively hinged to the two pedal arms 52 through a hinge shaft H51, so that the foot pedal 53 can rotate around the hinge shaft H51 relative to the two pedal arms 52. The foot pedal 53 has a certain length along the lateral direction, and can play a more stable supporting role by being hinged to it by the two pedal arms 52. In another embodiment, the number of the pedal arms 52 may also be one or more than three. Further, the stopper 58 may be a pair of connecting portions 531. The two stoppers 58 are respectively hinged to the two pedal arms 52 through a hinge shaft H58, so that the two stoppers 58 can rotate around the hinge shaft H58 relative to the two pedal arms 52. It can be understood that the limit members 58 and the connecting parts 531 in the figure are matched one by one, so the number of the limit members 58 and the number of the connecting parts 531 are matched. At the same time, the limit members 58 and the connecting parts 531 that are matched one by one are set on the same side of the pedal arm 52.

[0086] In the illustrated embodiment, one end of the first connecting arm 102 ( Figure 1 The first connecting arm 102 can be hinged to the front wheel frame 12 of the front wheel assembly 10, and the first connecting arm 102 can be arranged to rotate relative to the upper portion 126 of the front wheel frame 12 to the connecting arm unfolding position P101. As mentioned many times before, the upper portion 126 of the front wheel frame 12 is only the folding wheelchair 800 in the Figure 1 or Fig.19A The upper portion 126 of the front wheel frame 12 is shown as the upper portion of the front wheel frame 12 in the normal use state. During the folding process, the upper portion 126 of the front wheel frame 12 can become the front portion of the front wheel frame 12. The angle α102 between the first connecting arm 102 and the upper portion 126 of the front wheel frame 12 is Figure 19V It is shown in Figure 5A and Figure 5B as well as Fig. 20 The connecting arm is shown in the unfolded position P101, and the angle α102 (not shown because it is not easy to show at this time) can be, for example, 160-180°. Fig. 20 When the first connecting arm 102 rotates to the connecting arm unfolding position P101 relative to the upper portion 126 of the front wheel frame 12, the front wheel frame 12 of the front wheel assembly 10 can be rotated and folded to the front wheel folding position P122 relative to the seat cushion assembly 80. In the front wheel folding position P122, the left and right front rollers 11 supported by the front wheel frame 12 can be stored in the left and right sides of the seat cushion assembly 80, respectively, and the outer diameter of the front roller 11 can be set to be equivalent to the thickness of the seat cushion assembly 80 in the thickness direction T80, so that it will not protrude.

[0087] See also Figure 5B When the pedal arm 52 is rotated and retracted relative to the front wheel frame 12 to the pedal retracted position P522, the front wheel frame 12 may have a middle portion 124 accommodated between the pair of pedal arms 52 set above in the lateral direction (or in the left-right direction), and may also have side portions 125 set on both sides. The aforementioned force-applying portion 123 may be set in the middle portion 124 to facilitate the application of force to the rod body of the limit rod 56. The side portion 125 may have a receiving notch 125 to facilitate the engagement of the pedal arm 52. The angle α52 between the pedal arm 52 and the front wheel frame 12 is Fig.19O It is shown in Figure 5A and Figure 5B as well as Figure 19R to Figure 20 The pedal folded position P522 shown, for example, the angle α52 (not shown because it is not easy to show at this time) can be, for example, -5-5°. Figure 1 or Fig.19A In the normal usage state shown, the angle α52 between the pedal arm 52 and the front wheel frame 12 can be, for example, 155°-175°. This angle, combined with the angle α53 between the foot pedal 53 and the pedal arm 52 when in the first pedal deployment position P531, is particularly suitable for users to place their feet on the foot pedal 53.

[0088] The pedal arm 52 and the first connecting arm 102 may be provided with a buckle portion 520 and a buckle connection portion 102a, respectively. When the first connecting arm 102 is located at the connecting arm unfolded position P101 and the pedal arm 52 is located at the pedal folded position P522, the buckle connection portion 102a of the first connecting arm 102 may be buckled with the buckle connection portion 520 of the pedal arm 52. Figure 5A , Figure 5B or Fig. 20 shown.

[0089] when Figure 19T The pedal arm 52 shown in the pedal retracted position P522 and the front wheel frame 12 move together with the first connecting arm 102 to Fig. 20 (like Figure 5A or Figure 5B When the first connecting arm 102 shown in FIG. 1 is in the connecting arm unfolding position P101 relative to the front wheel frame 12, the buckle portion 102a and the buckle portion 520 will be as shown in FIG. Figure 5A As shown, the pedal arms 52 are locked to each other, thereby limiting the rotation of the pedal arms 52 relative to the front wheel frame 12. Fig. 20 The fully folded foldable wheelchair 800 shown is not likely to become loose no matter how it is carried. During the process, the buckle portion 102a and the buckle portion 520 avoid each other.

[0090] In the illustrated embodiment, the buckling portion 102a and the buckling portion 520 can be respectively hook structures as shown in the figure, and the hook portions of the two hook structures can cooperate with each other to buckle and limit.

[0091] In the illustrated embodiment, the buckle portion 102a rotates coaxially and synchronously with the first connecting arm 102 relative to the front wheel frame 12 with the hinged portion of the first connecting arm 102 and the front wheel frame 12 as the rotation center. Figure 3 The first connecting arm 102 and the front wheel frame 12 can be hinged to each other through the hinge shaft H102, so that the first connecting arm 102 and the front wheel frame 12 can rotate relative to each other around the hinge shaft H102. A sleeve 102b is provided in the front wheel assembly 10, and the buckle portion 102a is formed on the sleeve 102b, and the sleeve 102b is provided on the hinge shaft H102 and configured to rotate synchronously with the first connecting arm 102. For example, the sleeve 102b can be limited by a limiter such as a pin to rotate synchronously with the first connecting arm 102. For another example, the sleeve 102b can be configured to be an integral part with the first connecting arm 102. By configuring the buckle portion 102a to rotate coaxially and synchronously with the first connecting arm 102, when the first connecting arm 102 is actuated, the buckle portion 102a can be driven to actuate synchronously, so as to achieve avoidance between the buckle portion 102a and the buckle portion 520 during the movement.

[0092] The front wheel assembly 10 can be rotated and folded relative to the seat cushion assembly 80, so that the angle between the seat cushion assembly 80 and the support surface G0 can be changed. This feature can also be a way to make it easier for the user to sit in the folding wheelchair 800. For example, the front wheel assembly 10 can be rotated and folded relative to the seat cushion assembly 80 by the controller. Figure 19L The middle footrest 53 is in contact with the support surface G0, and the user can step on the inclined footrest 53 (similar to a slope) to walk onto the folding wheelchair 800, which is convenient for the user to enter. After the user sits down, the front wheel assembly 53 is controlled by the aforementioned controller to return to the normal walking position. Similarly, if the user needs to leave the folding wheelchair 800, the front wheel assembly 10 can be rotated and folded to the upper position by the aforementioned controller. Figure 19L The middle footrest 53 is in contact with the support surface G0, so that the user can get off the wheelchair without retracting the footrest 53, which greatly facilitates the user. Of course, it is understandable that Figure 19L In the embodiment, the backrest components which will be described in detail later are all in a folded state. When it is actually convenient for the user to enter the folding wheelchair 800, the backrest components can all be in an open state.

[0093] 1.3, rear wheel assembly 20

[0094] Back to Figure 1 , combined with Fig.19AThe upper ends of the front wheel assembly 10 and the rear wheel assembly 20 can be rotatably connected to the front connecting position P1 and the rear connecting position P2 of the seat cushion assembly 80, respectively. Therefore, a front rotation axis O1 and a rear rotation axis O2 can be respectively provided between the upper ends of the front wheel assembly 10 and the rear wheel assembly 20 and the seat cushion assembly 80.

[0095] In the illustrated embodiment, the front rotation axis O1 and the rear rotation axis O2 may be skew lines, whereby the rear wheel assembly 20 (as an example of the second aspect) avoids the front wheel assembly 10 (as an example of the first aspect) when the seat cushion assembly 80 is folded. In other words, the front rotation axis O1 and the rear rotation axis O2 are not parallel. Fig.19A In the figure, the front rotation axis O1 is perpendicular to the paper plane, while the rear rotation axis O2 is not perpendicular to the paper plane. For example, the rear wheel assembly 20 can be retracted after being flipped to a certain extent laterally toward the side (that is, the left side rear wheel frame 22 faces the left side, and the right side rear wheel frame 22 faces the right side) or toward the inside (that is, the left side rear wheel frame 22 faces the right side, and the right side rear wheel frame 22 faces the left side) relative to the seat cushion assembly 80 when folded, and will avoid the front wheel assembly 10 during the flipping process. This rear wheel assembly 20 can also be called a rotatable rear wheel assembly.

[0096] In the illustrated embodiment, the front rotation axis O1 may extend laterally (or left-right) of the seat cushion assembly 80, and the rear rotation axis O2 extends obliquely upward toward the side. That is, the left rear rotation axis O2 extends obliquely upward toward the left side, and the right rear rotation axis O2 extends obliquely upward toward the right side.

[0097] In the illustrated embodiment, the rear wheel assembly 20 can be arranged such that the rear wheel assembly 20 is in the rear wheel deployment position P201 (eg Figure 1 , FIG. 19A to FIG. 19P ) and rear wheel folding position P202 (as shown Figure 1 , Figures 19T to 20 See Fig.19O In the rear wheel deployment position P201, the rolling axis O21 of the rear roller 21 of the rear wheel assembly 20 can extend laterally along the seat cushion assembly 80, that is, Fig.19O perpendicular to the paper. Figure 19T In the rear wheel folding position P202, the rolling axis O21 of the rear roller 21 can extend along the thickness direction of the seat cushion assembly 80, that is, Figure 19TFor example, in the rear wheel deployment position P201, the angle between the rear wheel frame 22 of the rear wheel assembly 20 and the seat cushion assembly 80 may be 90-110°, and in the rear wheel deployment position P201, the angle between the rear wheel frame 22 of the rear wheel assembly 20 and the seat cushion assembly 40 may be 0-10°. In other words, as the rear wheel assembly 20 moves relative to the seat cushion assembly 80 from the rear wheel deployment position P201 (for example, Figure 19P ) is rotated and folded to the rear wheel folding position P202 (for example, Figure 19T ), the rolling axis O21 of the rear roller 21 changes from extending along the lateral direction of the cushion assembly 80 to extending along the thickness direction of the cushion assembly 80, and is finally received in the receiving box 821 provided below the cushion assembly 80. In the figure, both ends of the second connecting arm 202 can be respectively hinged to the second movable member 201 and the rear wheel assembly 20 through universal hinge joints such as fisheye joints E1.

[0098] In the illustrated embodiment, the rear wheel assembly 20 is positioned relative to the seat cushion assembly 80 from the rear wheel deployment position P201 (eg, Figure 19P ) is rotated and folded to the rear wheel folding position P202 (for example, Figure 19T ) process will also trigger the folding process of the backrest assembly 30, which will be described in detail later.

[0099] On the whole, you can refer to Figures 19K to 20 800. Figure 19K In the embodiment, the front wheel assembly 10 and the pedal assembly 50 of the folding wheelchair 800 are in an unfolded state. Fig. 20 In the embodiment, the front wheel assembly 10 and the pedal assembly 50 of the folding wheelchair 800 are in a folded state. Figure 19L to Figure 19V The foldable wheelchair 800 is in a plurality of intermediate states from the unfolded state to the folded state.

[0100] like Figure 19K As shown, the pedal assembly 50 at the corresponding position is generally as follows Figure 4A The front wheel assembly 10 is generally in the state shown in FIG. Figure 3 When the first movable member 101 is in Figure 19K When the first connecting arm 102 is moved toward the rear side in the direction of the first movable member 101, the first connecting arm 102 drives the front wheel frame 12 to rotate in the counterclockwise direction shown in the figure, so that the front end of the footrest 53 contacts the support surface G0 and moves to Figure 19L Status shown.

[0101] When the first movable member 101 is Figure 19LWhen the front wheel frame 12 is rotated in the counterclockwise direction as shown in the figure, the first connecting arm 102 is continuously driven by the first movable member 101, so as to continuously drive the front wheel frame 12 to rotate in the counterclockwise direction as shown in the figure. At this time, the foot pedal 53 is placed flat on the supporting surface G0 as a whole under the pressure of the pedal arm 52. In this state, the limiting elastic member 57 supporting the limiting rod 56 is elastically compressed or stretched to allow the limiting rod 56 to slightly disengage from the groove-shaped expansion fitting portion 531a, and not completely disengage from the expansion fitting portion 531a, and move to Fig.19M Specifically, the movement direction between the pedal 53 and the pedal arm 52 from the first pedal deployed position P531 to the folded position is used as a reference, as shown in FIG. Figure 5A The slot-shaped deployment matching portion 531a shown is defined by two convex protrusion structures, wherein the convex protrusion 531f of the slot-shaped structure is formed at the upstream position of the movement direction, and the convex protrusion 531g of the slot-shaped structure is formed at the downstream position relative to the movement direction. The convex protrusion 531f protrudes further from the outer surface of the connecting portion 531, so that the limiting rod 56 can slightly escape from the slot-shaped deployment matching portion 531a under the action of external force, and quickly return to the deployment matching portion 531a after the external force is removed. At the same time, the convex protrusion 531f with a higher protrusion height can further prevent the limiting rod 56 from being disengaged from the side of the convex protrusion 531f. In another embodiment, the two convex protrusion structures forming the deployment matching portion 531a can also have the same protrusion height.

[0102] When the first movable member 101 is Fig.19M When the pedal arm 52 continues to move toward the rear side in the direction of the first connecting arm 102, the first movable member 101 continues to drive the front wheel frame 12 to rotate in the counterclockwise direction shown in the figure. At the same time, the front roller 11 rolls toward the rear side in the figure, and the angle between the pedal arm 52 and the front wheel frame 12 gradually increases. Fig.19N After the state shown, continue to move to Fig.19O The status shown. Fig.19M Exercise to Fig.19O During the state, the rolling wheel 54 is always in contact with the support surface G0, so that rolling friction is generated between the components of the folding wheelchair 800 and the support surface G0, thereby preventing interference between the components of the folding wheelchair 800 and the support surface G0 and causing wear.

[0103] In folding wheelchair 800 movement to Fig.19O After the state shown, the rolling wheel 54 contacts and rolls with the support surface G0, so that the angle between the pedal arm 52 and the support surface G0 gradually decreases, the foot pedal 53 no longer contacts the support surface G0, and the limit rod 56 is reset to cooperate with the unfolding matching portion 531a.

[0104] The first movable member 101 is Fig.19O The front wheel frame 12 is pulled in the direction of the pedal arm 52, so that the angle between the front wheel frame 12 and the support surface G0 is gradually reduced. At the same time, the pedal arm 52 hinged thereto is subjected to pressure, and the angle between the pedal arm 52 and the support surface G0 is gradually reduced, while the angle between the pedal arm 52 and the front wheel frame 12 is gradually increased until it moves to Figure 19P In the state shown, the front wheel carrier 12 and the pedal arm 52 are placed almost transversely on the support surface G0.

[0105] The first movable member 101 is Figure 19P The pedal 53 continues to move upward and rearward in the direction of the front wheel frame 12, thereby further pulling the front wheel frame 12, so that the angle between the pedal arm 52 and the front wheel frame 12 is further increased, until the force-applying portion 123 of the front wheel frame 12 presses down the limit rod 56, so that the limit rod 56 and the deployment matching portion 531a are no longer in contact and matched, and the foot pedal 53 falls under the action of gravity until it is flush with the support surface G0, until it moves to Figure 19Q In the state shown in FIG. 1 , the limit rod 56 can abut against the third matching portion 531c. The relative position relationship between the pedal arm 52 and the foot pedal 53 in this state is as follows: Figure 6 The pedal arm 52 and the front wheel frame 12 are in the pedal retracted position P522.

[0106] The first movable member 101 is Figure 19Q The movement direction is changed from the direction of the wheelchair 800 to the front and downward direction, thereby pulling the seat cushion assembly 80 to rotate in the counterclockwise direction as shown in the figure, and the wheelchair 800 is folded by itself. Figure 19R Gradually turned to Figure 19S At the same time, the rear wheel assembly 20 is rotated and folded relative to the seat cushion assembly 80 under the pulling action of the second connecting arm 202 until Figure 19T The state shown, that is, Figure 19T , the rear wheel assembly 20 is in the rear wheel folding position P202 relative to the seat cushion assembly 80.

[0107] The first movable member 101 is Figure 19T The movement direction is changed in the direction of the figure, and it moves toward the upper side of the figure, thereby pulling the front wheel frame 12 to rotate in the counterclockwise direction of the figure. At this time, since the foot pedal 53 is pressed by the end 804 of the seat cushion assembly 80, the pedal arm 52 and the front wheel frame 12 are in the pedal retracted position P522. Therefore, when the front wheel frame 12 rotates in the counterclockwise direction of the figure, it can drive the pedal arm 52 to follow and rotate relative to the seat cushion assembly 80 in the same movement relationship, and successively pass through Figure 19U and Figure 19V The state moves to Fig. 20 Status shown.

[0108] exist Fig. 20 In the state shown, the buckle portion 102a and the buckle portion 520 cooperate with each other to limit, thereby preventing the pedal arm 52 from being separated from the front wheel frame 12. At the same time, the retracted matching portion 531b of the connecting portion 531 of the foot pedal 53 also cooperates with the limiting member 58 of the limiting device 55 to limit. Figure 5A At this point, the entire front wheel assembly 10 is completely engaged with the seat cushion assembly 80, making it easy to carry. Moreover, at this time, the folding wheelchair 800 is folded as a whole, and the rolling wheels 54 can serve as rollers for transporting the folding wheelchair 800 in the folded state.

[0109] 2. Support component

[0110] In the illustrated embodiment, the folding wheelchair 800 may include a support assembly. The support assembly can be seen in FIGS. Fig.18 The support assembly may include a backrest assembly 30 and / or a handrest assembly 40. It is understood that the backrest assembly 30 may be used for the user to lean back when sitting on the seat cushion assembly 80 of the folding wheelchair 800, and the handrest assembly 40 may include an armrest 4 for the user to hold on to when sitting on the seat cushion assembly 80 of the folding wheelchair 800.

[0111] In the illustrated embodiment, the backrest assembly 30 can be rotatably and foldably mounted on the seat cushion assembly 80, for example, via a hinge shaft H30. In the illustrated embodiment, the backrest assembly can also include a backrest locking assembly 60, which can be used to keep the backrest assembly 30 at the backrest deployment position P301 relative to the seat cushion assembly 80. In the illustrated embodiment, the backrest assembly can also include an unlocking assembly 70, which can be used to release the state locking of the backrest locking assembly 60 on the backrest assembly 30 relative to the seat cushion assembly 80.

[0112] 2.1. Backrest assembly 30

[0113] An example structure of the backrest assembly 30 can be found in 7A to 8B .

[0114] Combination Fig. 7A and Figure 7B The backrest assembly 30 may include a backrest frame 31, and the backrest frame 31 may have a mounting section 311 extending vertically (ie, up and down in a normal use state) on the side. The mounting section 311 defined as extending vertically may be substantially strictly along the Fig. 7A or Fig. 9AThe direction D1 extends in the middle, and the direction D1 has a component in the vertical direction. Preferably, the angle between the direction D1 and the vertical is less than 45°. Further preferably, the direction D1 is tilted backwards by 10-30° relative to the vertical, and further preferably, it is tilted backwards by 13° to improve the comfort of the user's backrest. In other words, the backrest assembly 30 may have a vertically extending mounting section 311 on the side. In the illustrated embodiment, the backrest assembly 30 (the backrest frame 31) may have mounting sections 311 on both sides (left and right), and the two mounting sections 311 may be composed of two pipes such as steel pipes. In another embodiment, the two mounting sections 311 may also be composed of two parts of a backboard on two sides.

[0115] In the illustrated embodiment, the backrest frame 31 may include two vertical tubes 313 and a horizontal tube 314. The horizontal tube 314 connects the two vertical tubes 313 at the upper sides of the two vertical tubes 313. The two vertical tubes 313 may be supported on the folding wheelchair 800, such as the seat cushion assembly 80. The two vertical tubes 313 and the horizontal tube 314 may be formed by bending a pipe, or by welding after being processed separately. The two vertical tubes 313 may provide the aforementioned two mounting sections 311 respectively.

[0116] The backrest assembly 30 may further include a backrest cushion 32, which may provide a backrest surface 321 for the user to lean on. The backrest cushion 32 may be made of a soft material, for example, to improve the comfort of the user leaning back.

[0117] The backrest assembly 30 may further include upper and lower push rods 331, 332. The backrest cushion 32, the two push rods 331, 332 and the backrest frame 31 may form a hinged four-bar mechanism A3. The backrest cushion 32 and the backrest frame 31 respectively form a connecting rod and a frame of the hinged four-bar mechanism A3, and the two push rods 331, 332 form two connecting rods of the hinged four-bar mechanism A3.

[0118] Those skilled in the art know that a hinged four-bar mechanism is a four-bar mechanism in which all the moving pairs are revolute pairs, wherein one component serving as a supporting base is called a frame, a component directly hinged to the frame is called a connecting rod, and a component not directly connected to the frame is called a connecting rod. Furthermore, a connecting rod that can make a full rotation can be called a crank, and a connecting rod that can only swing back and forth within a certain angle range can be called a rocker. In the hinged four-bar mechanism A3, the cushion 52 and the backrest frame 31 respectively constitute the connecting rod and the frame of the hinged four-bar mechanism A3, and the push rod 331 and the push rod 332 respectively constitute the upper and lower connecting rods of the hinged four-bar mechanism A3. That is, the two ends of the cushion 52 can be respectively connected to the first end ( Figure 7B middle, upper end), the first end of the push rod 332 ( Figure 7BThe two ends of the backrest frame 31 can be respectively connected to the second end ( Figure 7B middle, lower end), the second end of the push rod 332 ( Figure 7B The backrest frame 31 and the push rod 332 are hinged at the lower end thereof, wherein the hinged position of the backrest frame 31 and the push rod 331 is located at the upper side compared to the hinged position of the backrest frame 31 and the push rod 332. It can be understood that the back cushion 52, the push rod 331, the push rod 332 and the backrest frame 31 constitute the hinged four-bar mechanism A3, which means that they constitute the hinged four-bar mechanism A3 at least in one state, and it does not exclude that there may be other composition relationships in another state. In other words, the four components constituting the hinged four-bar mechanism A3 (that is, the back cushion 52, the push rod 331, the push rod 332 and the backrest frame 31) may not be hinged to each other all the time, but at least have a state of being hinged to each other to constitute the hinged four-bar mechanism A3.

[0119] The back cushion 32 is arranged to be able to be pushed out from the back cushion position P321 ( Figure 19G See also Fig. 7A and Figure 7B ) through the middle position of the cushion P320 (such as FIG. 19H to FIG. 19J ) is switched to the cushion folding position P322 ( Figure 19K See also Fig. 8A and Figure 8B ). The cushion 32 is closer to the front side in the cushion push-out position P321 than in the cushion folded position P322. In other words, the cushion 32 moves from the cushion push-out position P321 to the cushion folded position P322, substantially from the back to the front. In addition, FIG. 19H to FIG. 19J The cushion middle position P320 shown in the figure includes multiple positions, and in the cushion middle position P320, the cushion 32 can be closer to the front side or the rear side than in the cushion push-out position P321. In the illustrated embodiment, the cushion 32 moves from the cushion push-out position P321 to the cushion folded position P322, and can also move from bottom to top. In a preferred embodiment, in the cushion push-out position P321, the side projection of the cushion 32 can overlap with the backrest frame 31.

[0120] The backrest assembly 30 may also include a backrest elastic member S33. One end of the backrest elastic member S33 may be connected to one of the two push rods 331 and 332, and the other end is connected to the cushion 32. The elastic force of the backrest elastic member S33 makes the cushion 32 have a tendency to switch from the cushion middle position P320 to the cushion push-out position P321 or the cushion folding position P322. That is, by providing the backrest elastic member S33, it is difficult for the cushion 32 to remain in the cushion middle position P320, and it will always be stably maintained in the cushion push-out position P321 or the cushion folding position P322. In the cushion push-out position P321, it is convenient for the user to lean back, and in the cushion folding position P322, it is convenient for the user to store, that is, the backrest elastic member S33 provides the holding force of the cushion 32 after it is unfolded or folded. The above structure makes the structure simple and reliable while realizing diversified functions. For example, the backrest elastic member S33 may be a tension spring, so that the tension of the tension spring is the smallest when the backrest is in the backrest push-out position P321 or the backrest folded position P322, and the tension is the largest at the middle position P320 of the backrest. In the illustrated embodiment, a spring column 324 is provided on the back of the backrest 32, a spring column 334 is provided on the push rod 331, and the backrest elastic member S33 is a tension spring connected and fixed between the spring column 324 and the spring column 334.

[0121] In the illustrated embodiment, two upper and lower push rods are respectively provided on both sides of the back cushion 32. For example, the upper and lower push rods on the right side are marked with 331 and 332, and the upper and lower push rods on the left side are marked with 331a and 332a (as shown in FIG. Fig. 7A As shown in FIG. 1 ). The back cushion 32, two push rods (such as 331, 332, or 331a, 332a) on each side, and the mounting section 311 on the side where the two push rods are located all constitute a hinged four-bar mechanism. In other words, one side of the back cushion 32 is connected to the mounting section 311 on the one side through the push rods 331, 332, and the other side is connected to the mounting section 311 on the other side through the push rods 331a, 332a. This structure is more reliable.

[0122] The backrest assembly 30, especially the backrest cushion 32 thereof, can be pushed out to open or folded, and even the side projection of the backrest cushion 32 after folding can overlap with the backrest frame 31, so that good back support, especially waist support, can be provided when opened.

[0123] 2.2 Handrail assembly 40

[0124] See also 7A to 11C An example configuration of a handrail assembly 40 is shown, which may include an armrest 4 .

[0125] See also Fig. 9AThe handrail assembly 40 may include a handrail folding assembly 43, and the handrail folding assembly 43 may include the aforementioned armrest 4. The handrail folding assembly 43 may also include a first rod 41 and a second rod 42.

[0126] The armrest 4 may have a rod segment 401. The rod segment 401 of the armrest 4, the first rod 41, the second rod 42 and the mounting segment 311 of the backrest assembly 30 may form a hinged four-bar mechanism A1. In the hinged four-bar mechanism A1, the rod segment 401 of the armrest 4 and the mounting segment 311 of the backrest assembly 30 respectively constitute the connecting rod and the frame of the hinged four-bar mechanism A1, and the first rod 41 and the second rod 42 respectively constitute the connecting rods located at the upper side and the lower side of the hinged four-bar mechanism A1. That is, the two ends of the rod segment 401 may be respectively connected to the first end ( Fig. 9A middle, upper end), the first end of the second rod 42 ( Fig. 9A The two ends of the mounting section 311 can be respectively connected to the second end ( Fig. 9A middle, lower end), the second end of the second rod 42 ( Fig. 9A The armrest 4 is hinged at the lower end (in the middle), wherein the hinge position of the mounting section 311 and the first rod 41 is located at the upper side compared to the hinge position of the mounting section 311 and the second rod 42. The rod section 401 of the armrest 4 is the part of the armrest 4 that provides the hinge position B41 hinged to the first rod 41 and the hinge position B42 hinged to the second rod 42. In the illustrated embodiment, the second rod 42 is hinged to the backrest assembly 30 (specifically, the mounting section 311) through the locking support 6 to be described in detail later, rather than being directly hinged to the backrest assembly 30, and the hinge axis of the second rod 42 and the locking support 6 can be coaxially arranged with the hinge axis H30 of the backrest assembly 30 and the locking support 6.

[0127] In the above-mentioned handrail assembly 40, the armrest 4 of the handrail folding assembly 43 provides a rod segment 401 as a connecting rod of the hinged four-bar mechanism, and the backrest assembly 30 provides a mounting segment 311 as a frame of the hinged four-bar mechanism. The armrest 4 can move flexibly relative to the backrest assembly 30, so that the size of the structure formed by the armrest 4 and the backrest assembly 20 can be changed at least in the front-to-back direction. By this, the handrail assembly 40 can be conveniently switched between a state in which the front-to-back size of the overall structure is larger and a state in which the front-to-back size is smaller. In the state in which the front-to-back size of the overall structure is larger, the user can hold the armrest 4, which can also be referred to as the use state of the handrail assembly 40. In the state in which the front-to-back size of the overall structure is smaller, it is convenient for the user to place the handrail assembly 40 and the backrest assembly 30, which can also be referred to as the storage state of the handrail assembly 40. When using the above-mentioned handrail assembly 40, when switching from the use state to the storage state, in the process of folding the armrest 4, the user can operate a smaller range of motion, and can also comfortably fold the armrest 4 while sitting on the folding wheelchair 800.

[0128] In the illustrated embodiment, the hinged four-bar mechanism A1 is configured to be able to move from a four-bar unfolded state (such as Fig.19D ) to the four-bar folding state (as shown) Fig.19H The switching process can be found in Fig.19D to Fig.19H , the hinged four-bar mechanism A1 is Fig.19D The four-bar deployment state passes through Fig.19E , Fig.19F , Figure 19G The intermediate state switches to Fig.19H The four-bar folded state. Fig.19D In the unfolded state shown, the angle between the first rod 41 and the rod segment 401 is α41 and the clamping opening is downward, and α41 can be 150-180°, and more preferably, α41 can be 170-180°. Fig.19H In the four-bar folded state shown, the angle between the first bar 41 and the bar segment 401 is α42 (not shown because it is not easy to show), and the clamping mouth faces upward, α42 is 0-30°, and more preferably, α42 is 0-10°. Fig.19E , Fig.19F and Figure 19G In the intermediate state of the four-bar structure, the angle between the first bar 41 and the bar segment 401 is shown as α40. Fig.19D In the four-bar unfolded state, the user can use the hand-holding assembly 40, that is, the hand-holding handrail 4, and Fig.19H In the folded state of the four-bar linkage, the user can store the handrail assembly 40. In the preferred embodiment shown in the figure, α41 is 173.6° and α42 is 5.4°. In this way, the unfolding can be more complete and the folding can be more compact. The hinged four-bar linkage A1 can be set as a crank-rocker mechanism, wherein the first rod 41 constitutes the crank of the crank-rocker mechanism, and the second rod 42 constitutes the rocker of the crank-rocker mechanism. For example, the first rod 41 as a crank can be the shortest rod among the four components constituting the hinged four-bar linkage A1. It can be understood that the rod length is based on the distance between the hinge positions (hinge centers) at both ends of each component, and is not necessarily the length of the component itself.

[0129] In the illustrated embodiment, Fig.19D The four-bar unfolded state shown also corresponds to the unfolded state of the armrest 4. The angle α43 between the armrest 4 and the backrest assembly 30 (specifically, the mounting section 311) can be 90-120°, preferably 101.4°. Fig.19H The four-bar folding state shown also corresponds to the armrest folding state of the armrest 4. The angle α43 between the armrest 4 and the backrest assembly 30 (specifically, the mounting section 311) can be -10-20°, preferably 0°. FIG. 19D to FIG. 19H, the angle α43 increases first and then decreases. It can be understood that, taking -10° as an example, the angle between the armrest 4 and the backrest assembly 30 is -10°, which means that the armrest 4 is tilted backwards by 10° relative to the backrest assembly 30 .

[0130] In the illustrated embodiment, the handrail assembly 40 may further include an armrest locking assembly 44. The armrest locking assembly 44 may lock the state of the hinged four-bar mechanism A1. For example, the hinged four-bar mechanism A1 may be locked in a position by the armrest locking assembly 44. Fig.19D The four-bar is deployed, or locked in Fig.19H The armrest locking assembly 44 can be a detachable fastener that can fix the first rod 41 constituting the hinged four-bar mechanism A1 to other components of the hinged four-bar mechanism A1, or to the backrest assembly 30, or other parts of the folding wheelchair 800 such as the cushion assembly 80, so that the first rod 41 cannot rotate relative to the hinge position at any end. The fastener can be, for example, a screw, a bolt, or a locking pin, a tape, a rope, a hook, etc.

[0131] As before, the hinged four-bar mechanism A1 has a four-bar unfolded state for handholding, such as Fig.19D As shown in the figure, the armrest locking assembly 44 can be used to lock the four-bar unfolded state. This can make the entire structure more reliable and not unstable when used by the user.

[0132] The armrest locking assembly 44 can lock the state of the hinged four-bar mechanism A1 by locking two components among the rod segment 401, the first rod 41, the second rod 42 of the armrest 4 and the mounting segment 311 of the backrest assembly 30. That is, two components can be arbitrarily selected from the four components of the rod segment 401, the first rod 41, the second rod 42 and the mounting segment 311, and the armrest locking assembly 44 can lock the selected two components so that the two components cannot move relative to each other, thereby locking and maintaining the state of the hinged four-bar mechanism A1.

[0133] Combination FIG. 10A to FIG. 11C The armrest locking assembly 44 may include a handle 441, a locking block 442 and a third rod 443. The armrest 4 may have a branch section 402. Fig.11A As shown, the handle 441, the locking block 442, the third rod 443 and the branch section 402 (for clarity, Fig.11AThe armrest 4 is simplified as a dotted line in FIG. 4 ) to form a hinged four-bar mechanism A2. Among them, the branch segment 402 and the third rod 443 respectively constitute the frame and the connecting rod of the hinged four-bar mechanism A2, and the handle 441 and the lock block 442 constitute two connecting rods of the hinged four-bar mechanism A2. That is, the two ends of the branch segment 402 can be respectively hinged to the first position 4411 of the handle 441 and the first position 4421 of the lock block 442, and the two ends of the third rod 443 can be respectively hinged to the second position 4412 of the handle 441 and the second position 4422 of the lock block 442. The branch segment 402 of the handrail 4 is the part of the handrail 4 that provides the hinge position B441 hinged to the handle 441 and the hinge position B442 hinged to the lock block 442. It can be understood that the rod segment 401 and the branch segment 402 of the handrail 4 are not required to be two separate parts, but can be the same part or two partially overlapping parts. Similar to the aforementioned hinged four-bar mechanism A1, the four components constituting the hinged four-bar mechanism A2 (i.e., the handle 441, the locking block 442, the third rod 443 and the branch segment 402) may not be always hinged to each other, but may at least be hinged to each other to form the hinged four-bar mechanism A2. This is the case in the illustrated embodiment, which will be described in detail later.

[0134] In the hinged four-bar mechanism A2, the handle 441 is arranged to be rotatable relative to the branch section 402 of the armrest 4, so that the locking block 442 is rotated relative to the branch section 402 of the armrest 4 between the locking position P441 and the unlocking position P442, as shown in FIG. FIG. 11A to FIG. 11B As shown. Fig.11A The locking position P441 in the embodiment of the present invention is that the locking block 442 is buckled with the first rod 41 constituting the hinged four-bar mechanism A1, thereby locking the first rod 41 and the armrest 4. Fig. 10A . In the unlocking position P442, the locking block 442 is separated from the first rod 41, thereby releasing the locking connection between the first rod 41 and the armrest 4. That is, the handle 441 is pulled so that the handle 441 rotates relative to the armrest 4 at the hinge position B441. Under the driving action of the third rod 443 hinged to the handle 441, the locking block 442 hinged to the third rod 443 can rotate relative to the armrest 4 at the hinge position B442, thereby freely switching between the locking position P441 of the first rod 41 and the unlocking position P442 of the first rod 41, and further switching between the locking state of the first rod 41 and the armrest 4 and the unlocking state of the first rod 41 and the armrest 4. In the locked state, the first rod 41 and the armrest 4 are locked, and the state of the hinged four-bar mechanism A1 can be locked.

[0135] In the illustrated embodiment, the locking block 442 may have a locking hook 4420. The first rod 41 may be fixedly connected to a hinge shaft H41 and be hinged to the mounting section 311 of the backrest assembly 30 via the hinge shaft H41. Fig. 10AIn the locking position P441, the lock hook 4420 of the lock block 442 hooks the hinge shaft H41 fixed to the first rod 41, thereby the lock block 442 is buckled with the first rod 41. This armrest locking assembly 44 has a compact structure and is easy to operate. The lock block 442 can be on one side ( Fig.11A The locking block 442 is provided on the other side ( Fig.11A The rear side of the armrest locking assembly 44 has a protruding finger portion 4423, which is convenient for the user to pull the lock block 442 upward from the rear side of the armrest locking assembly 44, so that the lock block 442 is out of the locking position P441. The lock block 442 can have a through hole at the first position 4421 and the second position 4422, respectively, for the hinge shaft to pass through, so as to be hinged with the branch section 402 of the armrest 4 and the third rod 443, respectively, so as to form the armrest locking assembly 44. Fig. 10C The locking block 442 may also be provided with a magnet 4424. When the handrail assembly 40 is in the armrest folding state of FIG. 14 , the magnet 4424 of the locking block 442 may be attracted to the magnet 424 provided in the second rod 42 to provide a restraining force in the armrest folding state. In other words, the armrest folding state may be locked.

[0136] See also Fig.11A , the hinged four-bar mechanism A2 can be an antiparallelogram mechanism. Those skilled in the art know that the antiparallelogram mechanism is that the line connecting the two hinge points of the frame intersects with the line connecting the two hinge points of the connecting rod. In the hinged four-bar mechanism A2, the hinge position of the locking block 442 as the connecting rod and the third rod 443 (that is, the second position 4422 of the locking block 442) is located on the upper side of the hinge position of the locking block 442 and the branch segment 402 (that is, the first position 4421 of the locking block 442 or the hinge position B442 of the branch segment 402), and the hinge position of the handle 441 and the branch segment 402 (that is, the first position 4411 of the handle 441 or the hinge position B441 of the branch segment 402) is located on the upper side of the hinge position of the handle 441 and the third rod 443 (that is, the second position 4412 of the handle 441). In this way, the finger gently pulls the front end of the handle 441 upwards, that is, the handle moves along Fig.11A Clockwise direction ( Fig. 11B In the figure, marked as R1), the locking block 442 is rotated to move along Fig.11A Counterclockwise direction ( Fig. 11B The locking hook 4420 located below the hinged position B442 can be rotated from Fig.11A The lock bit P441 becomes Fig. 11B Unlock bit P442 in.

[0137] Fig.11A and Fig. 11BIn the illustrated embodiment, an elastic member S441 is further provided between the handle 441 and the armrest 4, and the elastic force of the elastic member S441 causes the handle 441 to have a tendency to keep the locking block 442 in the locking position P441. Fig.11A In the embodiment, a compression spring is provided between the front end of the handle 441 and the portion of the armrest 4 located above the handle 441, as an elastic member S441, and the elastic force of the compression spring makes the front end of the handle 441 tend to move downward, that is, the handle 441 has a tendency to move around Fig.11A The hinge position B441 in the middle has a tendency to rotate counterclockwise, so that, through the pushing action of the third rod 443, the locking block 442 has a tendency to rotate around Fig.11A The handle 441 has a tendency to rotate clockwise about the hinge position B442, that is, the handle 441 has a tendency to keep the locking block 442 in the locking position P441. That is, the elastic member S441 provides a preload force to keep the handle 441 in the locked position. In another embodiment, the elastic member S441 may also be a tension spring disposed between the front end of the handle 441 and the portion of the armrest 4 located below the handle 441.

[0138] In the illustrated embodiment, in the hinged four-bar mechanism A2, the hinge shaft H443 for hingedly connecting the third bar 443 and the handle 441 is located in the slideway 414. The slideway 414 allows one end ( Fig.11A In the embodiment shown in the figure, the hinge shaft H443 can be fixedly connected to the third rod 443, and the slideway 414 is formed by the slide groove of the handle 441, and the slide groove is in the form of a waist-shaped hole extending forward and backward. It can be understood that in another embodiment, the hinge shaft H443 can also be fixedly connected to the handle 441, and the slideway 414 can be provided by the third rod 443. Generally speaking, Fig.11A The locking position P441 is rotated counterclockwise around the hinge position B442 (such as Fig. 11C When the locking block 442 is rotated in the direction R2 in the middle of the figure, the thrust of the locking block 442 on the third rod 443 is insufficient to overcome the elastic force of the elastic member S441, so the handle 441 will not rotate around the hinge position B441 relative to the branch section 402 of the armrest 4. That is, at this time, the handle 441 and the armrest 4 can be regarded as an integral control bracket fixed to each other, and the front end of the third rod 443 will move along the slideway 414 from Fig.11A The state of forward (such as Fig. 11C Slide in the direction T1) to reach Fig. 11CIn this process, the lock block 442, the third rod 443 and the aforementioned integral control bracket (composed of the handrail 4 and the handle 441) form a structure similar to a crank slider mechanism or a rocker slider mechanism, wherein the aforementioned integral control bracket, the lock block, the third rod and the hinge shaft respectively constitute the frame, the crank (or rocker), the connecting rod and the slider sliding along the slideway 414 of the crank slider mechanism (or rocker slider mechanism). For the third rod 443 shown in the figure, the third rod 443 can be unlocked by passing through one end ( Fig.11A In addition to rotating the hinge shaft H443 at the rear end relative to the handle 441, the hinge shaft H443 can also slide forward along the slideway 414 to slide relative to the front end of the handle 441. In other words, the armrest locking assembly 44 can be moved from Fig.11A The status switches to Fig. 11B The status can also be changed from Fig.11A The status switches to Fig. 11C As before, the four components constituting the hinged four-bar mechanism A2 (i.e., the handle 441, the locking block 442, the third rod 443 and the branch section 402) may not be always hinged to each other, but may be in a state of being hinged to each other to form the hinged four-bar mechanism A2 (e.g., Fig.11A and Fig. 11B ), and at the same time having a state in which the third rod 443 is not hinged relative to the handle 441 but constitutes a crank slider mechanism (or a rocker slider mechanism) (as shown in FIG. Fig.11A and Fig. 11C shown).

[0139] In the illustrated embodiment, an elastic member S442 may be provided between the third rod 443 and the armrest 4, and the elastic force of the elastic member S442 causes the third rod 443 to have a tendency to keep the locking block 442 at the locking position P441. Fig.11A In the embodiment, a compression spring is arranged between the third rod 443 and the portion of the armrest 4 located above the third rod 443, as an elastic member S442. The elastic force of the compression spring makes the front end of the third rod 443 tend to move backward. Through the pushing action of the third rod 443, the locking block 442 has the ability to move around Fig.11A The third rod 443 has a tendency to rotate clockwise at the hinge position B442, that is, the third rod 443 has a tendency to keep the locking block 442 at the locking position P441. In actual settings, it can be easier to overcome the elastic force of the elastic member S442 when the locking block 442 is actively rotated counterclockwise, but it is more difficult to overcome the elastic force of the elastic member S441. That is, the elastic member S442 provides a pre-tightening force for the locking block 442.

[0140] The above structure allows the user to not only unlock the lock block 442 by pulling up or lifting the front end of the handle 441 at the front side, but also actively pull the lock block 442 at the rear side to unlock.

[0141] Fig. 10C The figure shows an example structure of the armrest locking assembly 44 cooperating with the armrest 4. The armrest 4 has a shell 45 extending forward and backward and having an inverted U-shaped cross section. The rod section 401 and the branch section 402 of the armrest 4 can be provided by the shell 45. The armrest locking assembly 44 can be accommodated in the shell 45. And the operating end (that is, the front end) of the handle 441 can be exposed at the front end of the shell 45, which is used to operate the handle 441 to rotate relative to the armrest 4. In this way, it is convenient for the user to pull the handle 441 from the front side to switch the state of the armrest locking assembly 44.

[0142] In the illustrated embodiment, the backrest assembly may include two handrest assemblies 40. The two handrest assemblies 40 may be respectively mounted to the mounting sections 311 of the backrest assembly 30 at two sides.

[0143] In the above-mentioned handrail assembly 40, the user can unlock the state lock of the handrail folding assembly 43 with one hand without changing the sitting posture, so that the armrest 4 can be folded with a small range of motion.

[0144] 2.3, control components 90

[0145] In the illustrated embodiment, the folding wheelchair 800 may further include a control assembly 90, which may be used to control the forward direction of the folding wheelchair 800. The control assembly 90 may be disposed at the front end of the armrest 4. In this way, it is convenient for the user to control the forward direction of the folding wheelchair 800 when sitting on the folding wheelchair 800, which is also ergonomic. In the illustrated embodiment, the control assembly 90 may be disposed at the front end of the armrest 4 by being connected to the front end of the handle 441, so that the entire structure is simpler and more compact.

[0146] See also 7A to 8B The control assembly 90 may include a control seat 901 and a control bracket 902, wherein the control bracket 902 may be disposed at the front end of the armrest 4. The control seat 901 may be provided with a control rod 903 for manual control. The control rod 903 may be in any existing form, for example, it may be a rocker. The user manually controls the control rod 903, and the control rod 903 may convert its own movement into electronic information that can be processed by the control system of the folding wheelchair 800, such as the aforementioned control unit, so as to control the forward direction of the folding wheelchair 800.

[0147] The control seat 901 can be foldably supported on the control bracket 902 and can be arranged in a control open state ( Fig.19A See also Fig. 7A and Figure 7B ) and control the collapsed state ( Fig.19C See also Fig. 8A and Figure 8B ), Fig.19B It also shows that Fig.19A Switch the control opening state to Fig.19C The control state is the middle state of the control of the folded state. Fig.19A In the control opening state, the control seat 901 is opened to the front side of the control bracket 902, and the control rod 903 is exposed on the upper side of the control seat 901. Fig.19C In the control folded state, the control seat 901 is folded above the control bracket 902, and the control rod 903 is located at the lower side of the control seat 901. Fig. 7A As shown, the control bracket 902 may include a support plate 906 and two pillars 905 distributed on the left and right sides of the front end of the support plate 906. The rear end of the control seat 901 may be hinged to the two pillars 905, and the rear end of the control seat 901 is arranged between the two pillars 905, so that the control seat 901 can be folded relative to the control bracket 902 and supported on the control bracket 902. Fig. 7A and Figure 7B In the control opening state, the control seat 901 and the support plate 906 of the control bracket 902 can be approximately in the state of opening 180°. Fig.14 and Fig.15 In the control folded state, the control seat 901 and the support plate 906 of the control bracket 902 can be approximately in a folded state of 0°. In the figure, the support plate 906 can also have a placement hole 904, allowing the control rod 903 located on the lower side of the control seat 901 to pass through in the control folded state. The control seat 901 can protect its control rod 903 when it is folded (or folded).

[0148] 2.4. Back locking assembly 60

[0149] In the illustrated embodiment, the folding wheelchair 800 may further include a backrest locking assembly 60. The backrest locking assembly 60 may keep the backrest assembly 30 at the backrest deployment position P301 relative to the seat cushion assembly 80. Figures 12 to 17 .

[0150] In the illustrated embodiment, the backrest locking assembly 60 may include a locking support 6. The locking support 6 may be mounted to the cushion assembly 80. The locking support 6 may be provided with a locking groove 62. The backrest locking assembly 60 may also include a mating assembly 61. The mating assembly 61 may be mounted to (the backrest frame 31 of) the backrest assembly 30. The mating assembly 61 may be provided with a locking shaft 63.

[0151] As mentioned above, the backrest assembly 30 (the backrest frame 31 thereof) can be rotatably mounted on the seat cushion assembly 80, for example, via a hinge shaft H30. The backrest assembly 30 is configured to be rotatable to the backrest deployment position P301, as shown in FIGS. 19A to 19B. Figure 19R and Fig.16A , Fig.16A and FIG. 19A to FIG. 19R The backrest assembly 30 is shown in the backrest deployment position P301. Figure 19K and Fig.16A In the backrest deployment position P301, the lock shaft 63 is engaged in the lock groove 62, whereby the backrest assembly 30 is in the backrest deployment position P301 relative to the seat cushion assembly 80. In other words, the backrest assembly 30 (the backrest frame 31 thereof) can be locked in the backrest deployment position P301 relative to the seat cushion assembly 80 by the lock shaft 63 being engaged in the lock groove 62.

[0152] The backrest locking assembly 60 may further include a backrest locking elastic member S301. The elastic force of the backrest locking elastic member S301 has a tendency to keep the lock shaft 63 stuck in the lock slot 62. That is, the elastic force provided by the backrest locking elastic member S301 enables the backrest assembly 30 to be kept in the backrest deployment position P301 relative to the seat cushion assembly 80.

[0153] The lock shaft 63 and the lock slot 62 of the backrest locking assembly 60 are respectively connected to the backrest assembly 30 and the seat cushion assembly 80 connected by the rotating pair. By locking the lock shaft 63 into the lock slot 62, the backrest assembly 30 can be placed in the backrest unfolding position P301 relative to the seat cushion assembly 80, and the user can lean back on it. In the folding wheelchair 800, in the backrest unfolding state, the angle α30 ( Fig.16A The angle (shown in the figure) is preferably 90-120°, further preferably 98-108°, and is 103° in the preferred embodiment shown in the figure to enhance the back-resting comfort of the user.

[0154] In the illustrated embodiment, the locking support 6 may include a locking block 601 and a base 602. The locking block 601 provides the aforementioned locking slot 62, and the locking block 601 is mounted to the base 602, and the locking support 6 is mounted to the cushion assembly 80 through the base 602. Fig.14 The locking block 601 may include two flat pieces 601b and 601a spaced apart (in the figure, along the left and right directions). The locking slot 62 may be considered to be composed of slots 62a and 62b opened toward the rear side and disposed at the rear ends of the two flat pieces 601a and 601b, respectively. Fig.13 The base 602 may be configured to include a bottom plate 602a and mounting blocks 602b extending upward from both sides of the bottom plate 602a. The two flat pieces 601a and 601b constituting the locking block 601 may be fixedly mounted to the opposite surfaces of the two mounting blocks 602b of the base 602, for example, by screws. Fig.12 and Fig.13The hinge shaft H30 passes through the mounting block 602b of the base 602, and the portion of the backrest assembly 30 through which the hinge shaft H30 passes is disposed between the two mounting blocks 602b. The base 602 can be mounted to the seat cushion assembly 80 via the bottom plate 602a.

[0155] In the illustrated embodiment, the mating component 61 may include a locking bracket 65. The locking bracket 65 may be rotatably mounted on the backrest component 30. The locking shaft 63 is disposed at one end 651 of the locking bracket 65. Fig.12 . Fig.12 In the embodiment, the locking bracket 65 is hinged to the backrest assembly 30 through a hinge shaft H65, for example, and the locking shaft 63 is disposed at the rear end of the locking bracket 65, and can move relative to the backrest assembly 30 as the locking bracket 65 rotates around the hinge shaft H65. This structure facilitates the locking shaft 63 to be inserted into the locking groove 62.

[0156] In the illustrated embodiment, the backrest locking elastic member S301 may be disposed between the locking bracket 65 of the mating component 61 and the backrest component 30. Fig.15 The locking bracket 65 may have a front wall 653 and two protruding arms 654 protruding from both sides of the front wall toward the rear side, and the front wall 653 and the two protruding arms 654 generally form a U-shaped structure. The U-shaped structure of the locking bracket 65 can accommodate the vertical tube 313 (or the mounting section 311) of the backrest assembly 30 from the front side, and the hinge shaft H65 passes through the two protruding arms 654 of the locking bracket 65 and the vertical tube 313 accommodated between the two protruding arms 654, thereby realizing that the locking bracket 65 can be rotatably installed on the backrest assembly 30. The backrest locking elastic member S301 can be a compression spring connected between the front wall 653 of the locking bracket 65 and the vertical tube 313, Fig. 9A The figure also shows the spring groove 313a provided in the vertical tube 313, which is used to accommodate the compression spring as the back-locking elastic member S301. The lock shaft 63 is horizontally arranged between the two protruding arms 654. As the lock bracket 65 rotates relative to the hinge shaft H65 in the direction of making the lock shaft 63 snap into the lock groove 62, the compression deformation of the compression spring gradually decreases. Therefore, the elastic force of the compression spring can make the lock bracket 65 rotate in the direction of making the lock shaft 63 snap into the lock groove 62. Fig.15 In the embodiment, the locking bracket 65 rotates around the lower end 651 in the direction of forward movement, and the locking shaft 63 is inserted into the locking groove 62. The above structure is simple in construction and more compact in arrangement.

[0157] In the illustrated embodiment, a backrest locking assembly 60 may be provided for each vertical pipe 313 of the backrest frame 31 of the corresponding backrest assembly 30. In the illustrated embodiment, the ends 652 ( Fig.12An unlocking rod 66 is connected between the backrest and the deployment position P301, and the unlocking rod 66 can be manually operated to rotate the locking bracket 65 until the locking shaft 63 is disengaged from the locking slot 62, thereby realizing manual unlocking of the backrest deployment position P301.

[0158] 2.5. Unlocking Component 70

[0159] See also Figures 12 to 17 The support assembly of the folding wheelchair 800 may further include an unlocking assembly 70. The unlocking assembly 70 may release the state locking of the backrest assembly 30 relative to the seat cushion assembly 80 by the backrest locking assembly 60.

[0160] In the illustrated embodiment, the unlocking assembly 70 may include a trigger rod 71 and an unlocking member 72. The trigger rod 71 is rotatably mounted to the cushion assembly 80. In the figure, the trigger rod 71 is rotatably mounted to the base 602 of the locking support 6, for example, through a hinge shaft H70, thereby being rotatably mounted to the cushion assembly 80. The unlocking member 72 is movably supported on the locking support 6, and is configured to be rotated with the trigger rod 71 and be triggered by one end ( Fig.14 In the embodiment, the upper end 712 of the trigger rod 71 pushes, thereby pushing the lock shaft 63 out of the lock slot 62, thereby unlocking the backrest assembly 30 from the backrest deployment position P301. Figure 13 to Figure 14 as well as FIG. 16A to FIG. 16B The trigger lever 71 is rotatably mounted to the seat cushion assembly 80 (eg, via a hinge shaft H70) Fig.16A and Fig. 16B ), by pulling upward Fig.16A The trigger end 711 (the lower end in the figure) of the trigger rod 71 rotates around the hinge shaft H70, and the upper end 712 of the trigger rod 71 contacts and pushes the unlocking member 72 to move backward, so that the unlocking member 72 pushes the lock shaft 63 backward, so that the lock shaft 63 is separated from the lock groove 62, thereby achieving Fig. 16B status.

[0161] In the illustrated embodiment, the backrest assembly 30 is rotated relative to the seat cushion assembly 80 (or the locking support 6) to leave the backrest deployment position P301, such as reaching Fig. 16B The backrest middle position P300 in the backrest is adjusted so that the lock shaft 63 is disengaged from the lock groove 62, and the backrest assembly 30 can be folded relative to the seat cushion assembly 80 under the action of gravity. Fig. 16C In the middle backrest position P300, the backrest assembly 30 is tilted forward, in other words, when the locking shaft 63 is out of the locking groove 62, the backrest assembly 30 is tilted toward the front side relative to the strict up-down direction when viewed from the side, that is, the angle α30 between the backrest assembly 30 and the horizontally extending seat cushion assembly 80 is less than 90°.

[0162] The structure of the unlocking assembly 70 is such that the lock shaft 63 can be quickly and conveniently pushed out of the lock slot 62 by only pulling the trigger lever 71, thereby allowing the backrest assembly 30 to be disengaged from the backrest unfolded position P301, for example, to reach the backrest folded position P302 under the action of gravity. The structure is simple, and the function of unlocking can be realized with simple operation.

[0163] See also Fig.16A and Fig. 16B The unlocking assembly 70 may further include an elastic member S70, the elastic force of which has a tendency to cause the trigger rod 71 to push the unlocking member 72, that is, the elastic force of the elastic member S70 has a tendency to cause the lock shaft 63 to disengage from the lock slot 62. For example, the elastic member S70 may be a torsion spring disposed around the hinge shaft H70, one end of which abuts against the trigger end 711 of the trigger rod 71, and the other end abuts against the base 602, such as the bottom plate 602a thereof. Therefore, the torsion spring as the elastic member S70 always has a tendency to push against the trigger end 711 of the trigger rod 71, that is, its elastic force has a tendency to cause the trigger rod 71 to push the unlocking member 72.

[0164] In the illustrated embodiment, the locking block 601 is provided with a slide groove 603 on both sides (left and right in the figure). Figure 13 to Figure 14 Each flat plate (e.g., 601a) is provided with a slide groove 603 on the side opposite to another flat plate (e.g., 601b), thereby providing a slide groove 603 on each side of the locking block 601. This mounting structure can provide sufficient activity space and make the structure more compact.

[0165] The unlocking member 72 may include two side walls 721 and a bottom wall 722 forming a U-shape. The two side walls 721 are respectively slidably matched with the slide grooves 603 on both sides of the locking block 601. The bottom wall 722 is pushed by the trigger rod 71 (in the figure, its upper end 712), and the free ends of the two side walls 721 (that is, the ends opposite to the ends connected to the bottom wall 722, in the figure, the rear ends) push the lock shaft 63, as shown in FIG. FIG. 16A to FIG. 16B .

[0166] In the illustrated embodiment, the locking groove 62 can be connected to the sliding grooves 603 on both sides of the locking block 601 at both ends in the groove length direction. The locking groove 62 extends left and right, that is, the groove length direction of the locking groove 62 is the left and right direction. The locking groove 62 is connected to the sliding groove 603 on the left side (the sliding groove 603 of the flat plate 601b of the locking block 601) and the sliding groove 603 on the right side (the sliding groove 603 of the flat plate 601a of the locking block 601) of the locking block 601 at the left end (the left end of the left notch 62b of the locking groove 62) and the right end (the right end of the right notch 62a of the locking groove 62).

[0167] The free ends of the two side walls 721 are respectively provided with protrusions 723 protruding toward each other, and the protrusions 723 are stopped by the groove bottom 621 of the locking groove 62. Fig.13 and Fig.14 , the rear end of the left side wall 721 is provided with a protrusion 723 protruding to the right, and the rear end of the right side wall 721 is provided with a protrusion 723 protruding to the left, and the protrusion 723 hooks the bottom 621 of the lock groove 62, that is, it is stopped by the bottom 621 of the lock groove 62. In the above structure, the bottom 621 of the lock groove 62 stops the protrusion 723 of the side wall 721, which can limit the forward displacement of the unlocking member 72, and the locking block 601 stops the bottom wall 722, which can limit the backward displacement of the unlocking member 72. The sliding groove 603 can not only guide the unlocking member 72 to move forward and backward to push the lock shaft 63, but also limit the unlocking member 72 in the up and down directions, so that the unlocking member 72 is reliably installed on the locking block 601 and can slide forward and backward a certain distance. Preferably, the unlocking member 72 is in a position under the elastic force of the elastic member S70. Fig.14 In the position shown, the protrusion 723 of the side wall 721 of the unlocking member 72 can block the opening of the locking groove 62 , so that the locking shaft 63 needs to overcome the elastic force of the elastic member S70 before entering the locking groove 62 .

[0168] In the illustrated embodiment, the elastic force of the elastic member S70 can make the protrusion 723 of the side wall 721 of the unlocking member 72 block the opening of the lock slot 62, preventing the lock shaft 63 from entering the lock slot 62, so that the force of the backrest locking elastic member S301 that causes the lock shaft 63 to be inserted into the lock slot 62 can overcome the force of the elastic member S70 that prevents the lock shaft 63 from entering the lock slot 62. For example, the elastic force of the backrest locking elastic member S301 can be greater than the elastic force of the elastic member S70. The backrest assembly 30 can be manually rotated to (or close to) the backrest deployment position P301. Under the elastic force of the backrest locking elastic member S301, the lock shaft 63 can move the unlocking member 72 from Fig.14 Push the position to Fig.13 The lock shaft 63 can also enter the lock slot 62, so that the backrest assembly 30 can be opened or unfolded and fixed. In the illustrated embodiment, the locking support 6 also has a bayonet 7. The backrest assembly 30 is configured to be rotatable from the backrest unfolding position P301 to the handle unfolding position P303, that is, after Fig.16A The status position is rotated to Fig.17 The state position. Fig.17 As shown, the lock shaft 63 is engaged with the bayonet 7, whereby the backrest assembly 30 is in the handle deployment position P303 relative to the seat cushion assembly 80. In the folding wheelchair 800, in the handle deployment position P303, the angle α30 between the backrest assembly 30 and the seat cushion assembly 80 is preferably 180-220°, more preferably 188-198°, and 193° in the preferred embodiment shown in the figure.

[0169] Thus, for the folding wheelchair 800, Fig. 20 The backrest assembly 30 is rotated from the backrest folding position P302 to the handle unfolding position P303 relative to the seat cushion assembly 80, and the rolling wheel 54 of the pedal assembly 50 of the front wheel assembly 10 can be similar to the small roller of the suitcase, and the backrest assembly 30 is similar to the pull rod, handle or handle of the suitcase, and the seat cushion assembly 80 is similar to the box body of the suitcase, thereby forming Fig.18 In the luggage compartment mode, the entire folding wheelchair 800 can be towed.

[0170] See also Fig.14 The bayonet 7 is a notch opened on both sides of the locking support 6. In the figure, the notch is opened on both the front side and the bottom side below the locking block 601 of the locking support 6. Such a notch structure can make it easy for the user to operate to disengage the lock shaft 63 from the bayonet 7. In the figure, the rotation direction of the backrest assembly 30 from the backrest deployment position P301 to the handle deployment position P303 is opposite to that of the backrest deployment position P301 to the backrest folding position P302.

[0171] In the illustrated embodiment, the locking block 601 of the locking support 6 can provide a smooth rolling surface 6011 for guiding the locking shaft 63 to snap into the locking groove 62, for example, FIG. 16B to FIG. 16A The “smooth rolling surface 6011” means that the rolling surface 6011 has a continuous curvature at every point on the rolling path of the lock shaft 63. Similar to the rolling surface 6011, the locking block 601 may also provide a smooth rolling surface 6012 for guiding the lock shaft 63 to snap into the bayonet 7, for example, FIG. 16A to FIG. 17 The flat pieces 601a and 601b constituting the locking block 601 may both have side surfaces that extend along arcs, thereby forming smooth rolling surfaces 6011 and 6012. Preferably, the locking shaft 63 is a circular shaft, which is convenient for rolling along the rolling surfaces 6011 and 6012. The arcs along which the rolling surfaces 6011 and 6012 extend may be consistent.

[0172] In the illustrated embodiment, when the unlocking assembly 70 is used in the illustrated folding wheelchair 800, it can cooperate with the rear wheel assembly 20 ( Figure 19S ) is rotated and folded toward the seat cushion assembly 80 and automatically unlocked.

[0173] In the illustrated embodiment, the folding wheelchair 800 can be configured such that, during the process of the rear wheel frame 22 of the rear wheel assembly 20 rotating and folding relative to the seat cushion assembly 80 from the rear wheel deployment position P201 to the rear wheel deployment position P202, the rear wheel frame 22 pushes the trigger rod 71 of the unlocking assembly 70, causing the trigger rod 71 to rotate, and then the trigger rod 71 pushes the lock shaft 63 out of the lock slot 62. Fig.13As shown, the trigger end 711 of the trigger rod 71 may be provided with a roller 711 a , and the rear wheel frame 22 rolls in contact with the trigger end 711 of the trigger rod 71 .

[0174] It can be understood that during the process of the rear wheel frame 22 of the rear wheel assembly 20 rotating and folding from the rear wheel unfolded position P201 to the rear wheel unfolded position P202 relative to the seat cushion assembly 80, the rear wheel frame 22 does not need to push the trigger rod 71 of the unlocking assembly 70 all the time, but can start to push the trigger rod 71 at a certain position during the process, for example, Figure 19S In the rear wheel middle position P200 shown, the rear wheel frame 22 begins to contact the roller 711 a of the trigger end 711 of the trigger rod 71 of the push-to-unlock assembly 70 .

[0175] Therefore, from Figure 19S , the backrest assembly 30 begins to automatically rotate and fold from the backrest deployment position P301 to the backrest folding position P302 relative to the seat cushion assembly 80 under the action of gravity. That is, when the rear wheel frame 22 of the rear wheel assembly 20 rotates and folds from the rear wheel deployment position P201 to the rear wheel middle position P200 shown in FIG. 19S relative to the seat cushion assembly 80, the rear wheel frame 22 begins to contact the trigger end 711 of the trigger rod 71 of the unlocking assembly 70, and the rear wheel frame 22 continues to rotate and fold from the rear wheel middle position P200 relative to the seat cushion assembly 80, and the rear wheel frame 22 automatically pulls the trigger end 711 of the trigger rod 71. This automatic pulling can enable the unlocking assembly 70 to unlock the backrest deployment position P301 caused by the locking shaft 63 being stuck in the locking groove 62, so that the backrest assembly 30 is disengaged from the backrest deployment position P301. FIG. 16A to FIG. 16B As shown, under the action of gravity, the back-leaning folding position P302 is reached, as shown in FIG. Figure 19V That is, during the folding process of the folding wheelchair 800, the seat cushion assembly 80 of the folding wheelchair 800 is approximately in a vertical position, the rear wheel frame 22 of the folding wheelchair 800 contacts the trigger end 711 of the trigger rod 71, and then pushes the unlocking member 72 in contact with the trigger rod 71, and the unlocking member 72 pushes the lock shaft 63 in the lock groove 62, and the unlocked backrest assembly 30 will automatically fold under the action of gravity.

[0176] 2. Folding method

[0177] The present invention also provides a folding method F0 for a folding wheelchair. The folding wheelchair is described with reference to the folding wheelchair 800 provided above. However, it can be understood that the folding method F0 provided by the present invention is not limited to the folding wheelchair 800 of the above structure. FIG. 19A to FIG. 20 The folding method F0 of the folding wheelchair provided according to the present invention is exemplarily described.

[0178] For the folding method F0 , the folding wheelchair 800 may include a seat cushion assembly 80 , a front wheel assembly 10 , and a rear wheel assembly 20 .

[0179] The folding method F0 includes the following steps S1, S2 and S3.

[0180] Step S1: From the front and rear wheels deployed state C11 (such as Figure 19K As shown in the figure, when the front roller 11 of the front wheel assembly 10 and the rear roller 21 of the rear wheel assembly 20 are supported on the support surface G0, the front wheel assembly 10 (as an example of the first side of the front wheel assembly 10 and the rear wheel assembly 20 in the figure) is rotated and folded toward the seat cushion assembly 80 around the front rotation axis O1 (as an example of the first rotation axis in the figure) until the front wheel assembly 10 (as an example of the aforementioned first side in the figure) is horizontally supported on the support surface G0 in the first intermediate state C17 (as shown in the figure). Figure 19Q As shown), the front rotation axis O1 (as an example of the first rotation axis in the figure) is arranged at the connection between the front wheel assembly 10 (as an example of the aforementioned first party) and the seat cushion assembly 80 (in the figure, the front connection position P1).

[0181] This process can be regarded as a process in which the foldable wheelchair 800 "knelt" toward the front.

[0182] The front and rear wheels are deployed in the state C11, for example Figure 19K As shown, it can be understood that the front and rear wheel unfolded state C11 means that the front wheel frame 12 supporting the front roller 11 of the front wheel assembly 10 and the rear wheel frame 22 supporting the rear roller 21 of the rear wheel assembly 20 are both in an unfolded state relative to the seat cushion assembly 80 (that is, both are roughly in a standing state) so that the user can sit on the seat cushion assembly 80. Figure 19K In the front and rear wheel deployment state C11, the front wheel assembly 10 (the front wheel frame 12) can be in the front wheel deployment position P121 relative to the seat cushion assembly 80, and the rear wheel assembly 20 (the rear wheel frame 22) can be in the rear wheel deployment position P201 relative to the seat cushion assembly 80.

[0183] The first intermediate state C17 (such as Figure 19Q As shown) Figure 19Q As shown, "the front wheel assembly 10 is supported horizontally on the support surface G0" means that, compared with the front and rear wheel deployment state C11, the front wheel assembly 10, especially the front wheel frame 12 thereof, is in a horizontal state relative to the support surface G0 rather than a standing state, or, viewed from the side, the front wheel assembly 10 is stably supported on the support surface G0 by at least two front and rear fulcrums rather than only by the front roller 11. In other words, for the illustrated embodiment, from Figure 19K The front and rear wheels are shown in the unfolded state C11 to Figure 19Q The first intermediate state C17 (as shown in Figure 19Q As shown in FIG. 1 , the front support of the folding wheelchair 800 is changed from being supported only by the front roller 11 to being supported by the front roller 11 and other parts of the front wheel assembly 10. Figure 19Q In the first intermediate state C17 (such as Figure 19Q (as shown), the front wheel assembly 10 (the front wheel frame 12) can be in a front wheel middle position P120 between the front wheel unfolded position P121 and the front wheel folded position P122 relative to the seat cushion assembly 80, and the rear wheel assembly 20 (the rear wheel frame 22) can be in a rear wheel unfolded position P201 relative to the seat cushion assembly 80.

[0184] Step S2: From the first intermediate state C17 (such as Figure 19Q As shown in the figure, when the front wheel assembly 10 (as an example of the aforementioned first party) is horizontally supported on the support surface G0, the seat cushion assembly 80 is rotated and unfolded around the front rotation axis O1 (as an example of the first rotation axis in the figure) relative to the front wheel assembly 10 (as an example of the aforementioned first party in the figure), and at the same time, the rear wheel assembly 20 (as an example of the second party of the front wheel assembly 10 and the rear wheel assembly 20 in the figure) is rotated and folded around the rear rotation axis O2 (as an example of the second rotation axis in the figure) relative to the seat cushion assembly 80 until the end 804 of the seat cushion assembly 80 (in the figure, the front end of the seat cushion assembly 80 in the normal use state) near the front rotation axis O1 (as an example of the first rotation axis in the figure) is supported on the support surface G0 in the first folded state C20 (as shown in the figure). Figure 19T As shown), the rear rotation axis O2 (as an example of the second rotation axis in the figure) is set at the connection between the rear wheel assembly 20 (as an example of the aforementioned second party in the figure) and the seat cushion assembly 80 (in the figure, the rear connection position P2).

[0185] It should be understood that in step S2, "the seat cushion assembly 80 rotates and unfolds around the front rotation axis O1, and at the same time, the rear wheel assembly 20 rotates and folds relative to the seat cushion assembly 80" means that the two rotation movements are performed simultaneously for at least a period of time, and the start time and end time of the two rotation movements may be inconsistent. Preferably, in the illustrated embodiment, the two rotation movements start at the same time, but do not end at the same time.

[0186] The first folded state C20 is as follows Figure 19TAs shown, “the end 804 of the cushion assembly 80 is supported on the support surface G0” can be understood as, the end 804 of the cushion assembly 80 is stably supported on the support surface G0 by at least two front and rear fulcrums when viewed from the side, and the at least two front and rear fulcrums can directly contact the support surface G0, or, as in the illustrated embodiment, indirectly contact the support surface G0 through the foot pedal 53 and the rolling wheel 54. Alternatively, “the end 804 of the cushion assembly 80 is supported on the support surface G0” can be understood as the center of gravity of the cushion assembly 80 from the side passes through the end surface of the end 804.

[0187] In from Figure 19Q The first intermediate state C17 (as shown in Figure 19Q shown) to Figure 19T During the process of the first folding state C20 shown, the folding wheelchair 800 changes from being supported horizontally by the front wheel assembly 10 and the rear roller 22, to being supported horizontally by the front wheel assembly 10 alone, and then to being supported by the end 804 of the seat cushion assembly 80 alone (in the figure, indirectly through the footrest 53 and the roller 54). Figure 19T In the first folding state C20, the front wheel assembly 10 (the front wheel frame 12) can return to the front wheel unfolded position P121 relative to the seat cushion assembly 80 (more precisely, the seat cushion assembly 80 relative to the front wheel frame 12), and the rear wheel assembly 20 (the rear wheel frame 22) can be in the rear wheel folded position P202 relative to the seat cushion assembly 80.

[0188] Step S3: From the first folded state C20 (eg Figure 19T As shown in FIG. 1 , when the end portion 804 of the seat cushion assembly 80 is supported on the support surface G0, the front wheel assembly 10 (as an example of the first side in the figure) is rotated and folded toward the seat cushion assembly 80 around the front rotation axis O1 (as an example of the first rotation axis in the figure) to the second folded state C23 (as shown in FIG. Fig. 20 shown).

[0189] The second folded state C23 is as follows Fig. 20 As shown, in the second folding state C23 shown in the figure, the front wheel assembly 10 (the front wheel frame 12) can be rotated and folded to the front wheel folding position P122 relative to the seat cushion assembly 80. In FIG. 20, in the second folding state C23, the front wheel assembly 10 (the front wheel frame 12) can be in the front wheel folding position P122 relative to the seat cushion assembly 80.

[0190] It can be understood that in another embodiment, the rear wheel assembly 20 can also be used as an example of the aforementioned first party, that is, first, the rear wheel assembly 20 rotates and folds around the rear rotation axis O2, in other words, the folding wheelchair 800 "knelt" toward the rear side. Preferably, as shown in the illustrated embodiment, the aforementioned first party is the front wheel assembly 10, that is, the second party is the rear wheel assembly 20. The inventors consider that when the elderly use a wheelchair, they mostly need to lean on the backrest assembly 30, and the overall center of gravity is relatively backward, so the overall structural center of gravity of the folding wheelchair is also relatively backward. In addition, the front wheel assembly 10 is rotated and folded first, which is also conducive to the folding of the pedal assembly 50 when the front wheel assembly 10 is provided with the pedal assembly 50.

[0191] In the illustrated embodiment, as described above, the folding wheelchair 800 may further include a first drive assembly 100 and / or a second drive assembly 200. The first drive assembly 100 may include a first movable member 101 and a first connecting arm 102, the first movable member 101 may be movably disposed on the seat cushion assembly 80, and the two ends of the first connecting arm 102 are respectively hinged to the first movable member 101 and the front wheel assembly 10 (as an example of the first party in the figure). The second drive assembly 200 may include a second movable member 201 and a second connecting arm 202, the second movable member 201 may be movably disposed on the seat cushion assembly 80, and the two ends of the second connecting arm 202 are respectively hinged to the second movable member 201 and the rear wheel assembly 20 (as an example of the second party in the figure).

[0192] In the illustrated folding method F0, the first driving unit 103 can drive the first movable part 101 to move forward and backward, so that the front wheel assembly 10 (as an example of the aforementioned first party in the figure) can be rotated, unfolded or folded relative to the seat cushion assembly 80 under the driving action of the first connecting arm 102; and / or, the second driving unit 203 can drive the second movable part 201 to move forward and backward, so that the rear wheel assembly 20 (as an example of the aforementioned second party in the figure) can be rotated, unfolded or folded relative to the seat cushion assembly 80 under the driving action of the second connecting arm 202.

[0193] For example, in folding method F0, the unfolding and folding states of the front wheel assembly 10 (as an example of the aforementioned first party in the figure) and / or the rear wheel assembly 20 (as an example of the aforementioned second party in the figure) relative to the seat cushion assembly 80 can be determined by detecting the movement position of the first movable part 101 and / or the second movable part 201.

[0194] As an example, when the proximity sensor detects that the first movable member 101 reaches Figure 19QWhen the folding wheelchair 800 is in the motion position shown, the controller can control the rotary motor as the first drive unit 103 to output a rotary motion opposite to the previous rotation direction, so that the seat cushion assembly 80 rotates and unfolds relative to the front wheel assembly 10, and at the same time triggers the second drive unit 203 to drive the second movable member 201 to move forward to drive the rear wheel assembly 20 to rotate and fold relative to the seat cushion assembly 80. For another example, in step S1, the process of the folding wheelchair 800 "kneeling" toward the front side can be transmitted to the controller by a control handle such as a remote control, so that the controller transmits a start signal to the first drive unit 103, so that the first drive unit 103 drives the first movable member 101 to move backward, so that the front wheel assembly 10 rotates and folds relative to the seat cushion assembly 80, and the entire folding wheelchair 800 kneels down.

[0195] In the above-mentioned folding method F0, the center of gravity transfer can be achieved by selectively changing the positions of the front wheel assembly 10 and the rear wheel assembly 20. In particular, in step S2, it can be achieved by controlling the rotation and unfolding speed between the front wheel assembly 10 and the seat cushion assembly 80 and the rotation and folding speed between the rear wheel assembly 20 and the seat cushion assembly 80, for example, by controlling the movement speeds of the first movable member 101 and the second movable member 102. The center of gravity transfer of the entire folding wheelchair 800 can be well controlled, so that the entire folding process proceeds smoothly.

[0196] For example, in the folding wheelchair 800, the weight of the left and right rear wheel assemblies 20 can account for about 1 / 3 of the weight of the entire wheelchair. By changing their positions, the center of gravity of the entire wheelchair can be greatly changed. The left and right rear wheel assemblies 20 can be located below the wheelchair cushion 802 when in the folded state, and can be located on the rear side of the wheelchair cushion 802 when in the unfolded state. The front wheel assembly 10 is also located below the wheelchair cushion 802 when in the folded state, and can be located at the front of the folding wheelchair 800 when in the unfolded state.

[0197] In the folding method F0 shown in the figure, when the rear wheel assembly 20 (as an example of the second side in the figure) is rotated and folded relative to the seat cushion assembly 80, the rear wheel assembly 20 (as an example of the second side in the figure) avoids the front wheel assembly 10 (as an example of the first side in the figure). Figure 19R .

[0198] In the folding method F0 shown in the figure, when the rear wheel assembly 20 (as an example of the second party in the figure) is rotated and folded relative to the seat cushion assembly 80, the rolling axis of the rear roller 21 (as an example of the roller in the figure) of the rear wheel assembly 20 (as an example of the second party in the figure) is changed from extending along the lateral direction of the seat cushion assembly 80 to extending along the thickness direction T80 of the seat cushion assembly 80. Figure 19Q and Figure 19T comparison.

[0199] As mentioned above, the front wheel assembly 10 may include a front wheel frame 12 supporting the front roller 11, and the front wheel assembly 10 is rotatably connected to the seat cushion assembly 80 through the upper end of the front wheel frame 12. In the illustrated embodiment, the front wheel assembly 10 of the folding wheelchair 800 may also include a pedal assembly 50. The pedal assembly 50 may include a footrest assembly 51 and a rolling wheel 54. Among them, the footrest assembly 51 may include a pedal arm 52 and a footrest 53. The upper end of the pedal arm 52 may be rotatably arranged on the front wheel frame 12, and the footrest 53 may be connected to the lower end of the pedal arm 52. The rolling wheel 54 may be arranged on the footrest assembly 51.

[0200] In the folding method F0 shown in the figure, the folding wheelchair 800 is in the front and rear wheel unfolded state C11 (such as Figure 19K The second intermediate state C15 (as shown) of the rolling wheel 54 of the pedal assembly 50 contacting the support surface G0 Fig.19O As shown) reaches the first intermediate state C17 (as shown Figure 19Q As shown), in the second intermediate state C15 (as Fig.19O as shown) to the first intermediate state C17 (as shown Figure 19Q During the process (as shown in FIG. 1 ), the rolling wheel 54 rolls on the supporting surface G0, driving the pedal arm 52 of the pedal assembly 51 to rotate and unfold relative to the front wheel frame 12.

[0201] In the folding method F0 shown in the figure, the footrest 53 can be rotated to the first pedal deployment position P531 and the second pedal deployment position P533 relative to the pedal arm 52. The angle α53 between the footrest 53 and the pedal arm 52 is respectively a first predetermined value V1 and a second predetermined value V2 in the first pedal deployment position P531 and the second pedal deployment position P533, and the second predetermined value V2 is greater than the first predetermined value V1. As mentioned above, the footrest assembly 51 in the first pedal deployment position P531 can be used by the user to place the foot on the footrest 53. The first predetermined value V1 can be, for example, 105° to 135°.

[0202] In the illustrated folding method F0, the folding wheelchair 800 can be folded from the second intermediate state C15 (eg Fig.19O As shown) through the third intermediate state C16 (as Figure 19P ) to the first intermediate state C17 (as shown in FIG. 19Q). Fig.19O as shown) to the third intermediate state C16 (as shown Figure 19P During the process of the pedal 53 being in the first pedal deployment position P531 relative to the pedal arm 52, the foot pedal 53 can be kept in the first pedal deployment position P531. Figure 19P as shown) to the first intermediate state C17 (as shown Figure 19QDuring the process of rotating the pedal 53 relative to the pedal arm 52 from the first pedal deployment position P531 to the second pedal deployment position P533, the pedal 53 can be rotated and deployed relative to the pedal arm 52. As mentioned above, the second predetermined value V2 corresponding to the second pedal deployment position P533 can be 175-185 degrees. Therefore, the pedal 53 can be rotated and deployed relative to the pedal arm 52 from the first pedal deployment position P531 to a position where the pedal 53 is substantially flush with the support surface G0, and the subsequent folding action can be avoided.

[0203] It should be understood that the second intermediate state C15 (eg Fig.19O The state shown in FIG. 19A is not necessarily the state where the rolling wheel 54 starts to contact the support surface G0, but may be the state where the rolling wheel 54 has been in contact with the support surface G0 for a period of time. For example, in the illustrated embodiment, the folding wheelchair 800 changes from the front and rear wheel unfolded state C11 (as shown in FIG. 19K ) to the second intermediate state C15 (as shown in FIG. Fig.19O During the process (as shown in the figure), the intermediate states C12, C13 and C14 are successively experienced. In the intermediate state C12, the front end of the footrest 53 of the pedal assembly 50 begins to contact the support surface G0; then the footrest 53 of the pedal assembly 50 gradually lies flat to the intermediate state C13, during which the angle α53 between the pedal arm 52 and the footrest 53 can be slightly reduced; then from the intermediate state C13 to the intermediate state C14, when the footrest 53 is placed flat on the support surface G0, the rolling wheel 54 rolls forward, during which the angle α53 between the pedal arm 52 and the footrest 53 can be slightly increased; then the intermediate state C13 is reached. Fig.19O The second intermediate state C15 (such as Fig.19O As shown), the included angle α53 between the pedal arm 52 and the foot pedal 53 is restored to the angle when the foot pedal 53 is in the first pedal deployment position P531 relative to the pedal arm 52.

[0204] In the illustrated folding method F0, when the second intermediate state C15 (such as Fig.19O as shown) to the third intermediate state C16 (as shown Figure 19P During the operation (as shown in FIG. 1 ), the foot pedal 53 can be kept at the first pedal deployment position P531 relative to the pedal arm 52 by a limiting device (for example, the limiting device 55 of the pedal assembly 50), and the pedal arm 52 can be rotated relative to the front wheel frame 12 to the foot pedal folded position P522 (as shown in FIG. 1 ). Figure 19P See also Figure 5B ), and when the pedal is in the closed position P522, the front wheel frame 12 releases the limiting function of the limiting device 55, whereby the pedal 53 is moved relative to the pedal arm 52 from Figure 19P The first pedal deployment position P531 shown is rotated to Figure 19QThe second pedal deployment position P533 shown in FIG. Figure 19P As shown) reaches the first intermediate state C17 (as shown Figure 19Q shown).

[0205] For example, as mentioned in the above description of the pedal assembly 50, the force-applying portion 123 of the front wheel frame 12 may contact the Figures 3 to 5B The limiting rod 56 of the limiting device 55 shown in the figure applies a pressing force to the limiting rod 56, so that the limiting rod 56 can release the cooperation with the expansion cooperation portion 531a of the connecting portion 531 of the foot pedal 53, thereby releasing the limiting effect of the limiting device 55.

[0206] In the folding method F0 shown in the figure, Fig. 20 The second folded state C23 shown can keep the pedal arm 52 in the pedal folded position P522 relative to the front wheel frame 12. Figure 3 As shown in FIG. 5B , the buckling portion 520 of the pedal arm 52 and the buckling portion 102 a of the first link arm 102 are buckled together, so that the pedal arm 52 is maintained at the pedal retracted position P522 .

[0207] In the folding method F0 shown in the figure, Fig. 20 The second folded state C23 shown can keep the foot pedal 53 at the pedal folded position P532 relative to the pedal arm 52. Figure 3 The limiting member 58 of the limiting device 55 shown in FIG. 5B cooperates with the folding and fitting portion 531 b of the connecting portion 531 of the foot pedal 53 , so that the foot pedal 53 is maintained at the pedal folding position P532 .

[0208] As mentioned above, the rear wheel assembly 20 includes a rear wheel frame 22 supporting the rear roller 21 , and the rear wheel assembly 20 can be rotatably connected to the seat cushion assembly 80 through the upper end of the rear wheel frame 22 .

[0209] In the illustrated embodiment, the folding wheelchair 800 may include a backrest assembly 30 foldably mounted on a seat cushion assembly 80. The folding wheelchair 800 may also include a backrest locking assembly 60 for locking the backrest assembly 30 in a backrest deployment position P301 relative to the seat cushion assembly 80. The folding wheelchair 800 may further include an unlocking assembly 70 for unlocking the backrest assembly 30 from the backrest deployment position P301.

[0210] In the illustrated folding method F0, when the first intermediate state C17 (such as Figure 19Q to the first folded state C20 (as shown) Figure 19TDuring the process of folding the rear wheel frame 22 of the rear wheel assembly 20 relative to the seat cushion assembly 80, the unlocking assembly 70 can be triggered to unlock the backrest assembly 30 from the backrest deployment position P301, thereby allowing the backrest assembly 30 to be folded relative to the seat cushion assembly 80 under the action of gravity.

[0211] In the illustrated embodiment, the backrest assembly 30 may have a vertically extending mounting section 311 on the side. The folding wheelchair 800 may further include an armrest 4 .

[0212] In the illustrated folding method F0, before the backrest assembly 30 is folded relative to the seat cushion assembly 80 under the action of gravity, the armrest 4 can be folded relative to the mounting section 311 of the backrest assembly 30. FIG. 19D to FIG. 19H As shown, the armrest 4 can be folded relative to the mounting section 311 by means of a hinged four-bar mechanism A1. This folding operation can be performed manually. Fig.19H In the folded state of the armrest shown, the angle α43 between the armrest 4 and the mounting section 311 may be -10-20°.

[0213] In the illustrated embodiment, the folding wheelchair 800 may include a control assembly 90 for controlling the forward direction of the folding wheelchair 800. As described above, the control assembly 90 may include a control seat 901 and a control bracket 902, wherein the control bracket 902 may be disposed at the front end of the armrest 4. The control seat 901 may be provided with a control rod 903 for manual control. The control seat 901 may be foldably supported on the control bracket 902.

[0214] In the folding method F0 shown in the figure, before the backrest assembly 30 is folded relative to the seat cushion assembly 80 under the action of gravity, and further before the armrest 4 is folded relative to the mounting section 311, the control bracket 902 is changed from the control open state (such as Fig.19A Switch to the control folded state (as shown) Fig.19C As shown in Fig.19A As shown, in the control opening state, the control seat 901 is opened to the front side of the control bracket 902, and the control rod 903 is exposed on the upper side of the control seat 901. Fig.19C As shown, in the control folded state, the control seat 901 is folded to the top of the control bracket 902 , and the control rod 903 is located at the bottom of the control seat 901 .

[0215] In the illustrated embodiment, the backrest assembly 30 may include a backrest frame 31 and a backrest cushion 32 providing a backrest surface 321 . The backrest assembly 30 may be foldably mounted to the seat cushion assembly 50 via the backrest frame 31 .

[0216] In the folding method F0 shown in the figure, before the backrest assembly 30 is folded relative to the seat cushion assembly 80, the back cushion 32 can be pushed from the back cushion push-out position P321 to the back cushion folding position P322 relative to the backrest frame 31, wherein the back cushion 32 is closer to the front side at the back cushion push-out position P321 than at the back cushion folding position P322. Figure 19G to Figure 19K The back cushion 32 can be pushed from the back cushion pushing position P321 to the back cushion folding position P322 relative to the backrest frame 31 through the hinged four-bar mechanism A3.

[0217] FIG. 21A to FIG. 21I The folding wheelchair 800 is shown Fig. 20 The folded state C23 shown is a partial process of unfolding.

[0218] from Fig. 20 The folded state C23 shown is Fig.21A Status to Fig.21B The first movable member 101 moves downward, and the first connecting arm 102 drives the front wheel frame 12 of the front wheel assembly 10 to rotate relative to the seat cushion assembly 80 to unfold the front wheel frame 12 to a horizontal state, such as Fig.21B In addition, it should be understood that Fig. 20 The folding wheelchair 800 in the folded state C23 is placed upside down, that is, for example, the end 804 of the seat cushion assembly 80 of the folding wheelchair 800 faces the front side, and is supported on the support surface G0 by the lower side 806 of the seat cushion assembly 80. From this state, the seat cushion assembly 80 can also be rotated relative to the front wheel frame 12 of the front wheel assembly 10 by the movement of the first movable member 101. Fig.21B status.

[0219] from Fig.21B Starting from the state, the rear wheel frame 22 of the rear wheel assembly 20 rotates and unfolds relative to the seat cushion assembly 80, such as Fig. 21C As shown, at the same time, the seat cushion assembly 80 is rotated and folded relative to the front wheel frame 12 of the front wheel assembly 10, as shown in FIG. Fig.21D As shown, until Fig.21E Similar to the previous folding method, "simultaneously" here means at least a period of time is simultaneous, but the start and end times of the two rotational movements are not necessarily the same. In the illustrated embodiment, the rear wheel frame 22 first starts to rotate relative to the seat cushion assembly 80 to unfold, such as Fig. 21C As shown, the seat cushion assembly 80 then begins to rotate and fold relative to the front wheel frame 12, as shown in FIG. Fig.21D As shown. Fig.21EIn the state shown, the rear wheel assembly 20 is rotated and unfolded relative to the seat cushion assembly 80 to the rear wheel unfolding position P201, and the seat cushion assembly 80 is rotated and folded relative to the front wheel frame 12 of the front wheel assembly 10 to a predetermined angle.

[0220] from Fig.21E Starting from the state shown, the seat cushion assembly 80 and the front wheel frame 12 of the front wheel assembly 10 begin to rotate and unfold, passing through Fig.21F , Figure 21G and Fig.21H arrive Fig.21I This can be roughly understood as the process in which the front legs of the folding wheelchair 800 begin to climb up. Fig.21E The state shown in FIG. 21F is reached via the state shown in FIG. Figure 21G In the state shown, the pedal arm 52 of the pedal assembly 50 is naturally rotated and retracted relative to the front wheel frame 12, and the rolling wheel 54 of the pedal assembly 50 rolls on the support surface G0, and the footrest 53 also rests on the support surface G0. Figure 21G The status shown is Fig.21H In the state shown in FIG. 1 , as the angle between the seat cushion assembly 80 and the front wheel frame 12 of the front wheel assembly 10 is expanded to a predetermined value, the pedal assembly 50 is completely separated from the support surface G0, as shown in FIG. Fig.21H Then the seat cushion assembly 80 and the front wheel frame 12 of the front wheel assembly 10 continue to rotate and unfold until Fig.21I status.

[0221] The unfolding process of other parts of the folding wheelchair 800, such as the backrest assembly 30, the handrail assembly 40 and the control assembly 90, can refer to the reverse process of the aforementioned folding process, which will not be described in detail here.

[0222] The folding wheelchair 800 can be equipped with an inertial measurement unit, such as an angle sensor, a gyroscope + accelerometer, etc., so that the folding wheelchair 800 can only be operated in a safe state, and the starting position of the unfolding can only be vertical (such as Fig. 20 As shown) or horizontal (that is, the aforementioned situation where the end 804 of the folding wheelchair 800 in the folded state C23 faces the front side and the lower side 806 is supported on the support surface G0), the starting position of the folding can only be horizontal (as shown) Figure 19K shown).

[0223] On the whole, for the folding wheelchair shown in the figure, the user can first fold the control assembly, then unlock and fold the handrail assembly, and then stand up to fold the cushion of the backrest assembly, and then send a command to let the folding wheelchair perform automatic folding. First, the front wheel assembly including the footrest assembly performs a folding action, and the folding action of the front wheel assembly is stopped when the foot pedal in the footrest assembly is unfolded. Then, the left and right rear wheel assemblies start to fold under the drive of the second drive unit. At the same time, the front wheel assembly performs an unfolding action again, and cooperates with the folding of the left and right rear wheel assemblies to avoid the position. Before the left and right rear wheel assemblies are completely folded, the unlocking assembly of the handrail assembly will be triggered. When the left and right rear wheel assemblies are completely folded, the backrest assembly will also be automatically folded. At this time, the front wheel assembly can be in a fully unfolded position, so that the folding action can be performed again. After the front wheel assembly is in place, the folding operation of the entire machine is completed. At this time, if you need to move, you can pull the backrest assembly of the folding wheelchair to the position as shown in the figure. Fig.18 Use in the state shown.

[0224] When unfolding, as mentioned above, the folding wheelchair can be placed in two positions to start the automatic unfolding action. The first is to place the whole machine vertically, and the second is to place the whole machine horizontally. Even when it is placed horizontally, it can be easily converted to the horizontal position by unfolding the front wheel assembly. Fig.21B Then the left and right rear wheel assemblies rotate out under the driving action of the second drive unit respectively, and at the same time, the front wheel assembly folds to match the change of the center of gravity of the whole machine. When the left and right rear wheel assemblies are fully unfolded, the front wheel assembly unfolds again. At this time, since the center of gravity has been transferred from the right side of the front roller to the left side of the front roller, as the front wheel assembly unfolds, the whole folding wheelchair can also complete the change from the vertical state (such as Fig. 20 as shown) to a horizontal state (as shown Fig.21I After the driving device completes the driving, the front wheel assembly and the rear wheel assembly involved in the unfolding of the whole machine can be locked by the screw rod in the driving device, for example, to ensure the stability of the structure. Then, the user can open the backrest assembly, which will automatically lock when the backrest assembly moves to the backrest unfolded position, and then the folded cushion can be turned up. After the user sits on the seat cushion assembly, the armrests on both sides can be lowered, and the armrests can also be locked after being lowered. Finally, the user flips open the folded control assembly to control the folding wheelchair.

[0225] The folding wheelchair can be automatically folded or opened and the posture of the wheelchair can be changed by shifting the center of gravity, without the need for user participation. The rear wheel assembly can be folded and stored under the seat cushion by a simple rotation, and the front wheel assembly can also be stored under the seat cushion when folded. Among them, the front wheel assembly can change the angle with the ground to achieve the purpose of changing the angle between the seat cushion and the ground, so that the function of the foot pedal contacting the ground to form a slope can be developed to facilitate entry and exit of the folding wheelchair.

[0226] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A folding wheelchair, comprising a seat cushion assembly, a front wheel assembly and a rear wheel assembly, wherein the upper ends of the front wheel assembly and the rear wheel assembly are rotatably connected to the front connection position and the rear connection position of the seat cushion assembly, respectively, and characterized in that: The front roller of the front wheel assembly and the rear roller of the rear wheel assembly are supported on a supporting surface, The folding wheelchair further comprises a first drive assembly, wherein the first drive assembly comprises: A first movable member is movably disposed on the seat cushion assembly in a forward and backward manner; A first connecting arm, both ends of which are respectively hinged to the first movable member and a first one of the front wheel assembly and the rear wheel assembly; and A first driving unit, used for driving the first movable member to move forward and backward, whereby the first side can be rotated to unfold or fold relative to the seat cushion assembly under the driving action of the first connecting arm; The first side is the front wheel assembly, the front wheel assembly includes a front wheel frame supporting a front roller, and the front wheel assembly is rotatably connected to the seat cushion assembly through the upper end of the front wheel frame; The front wheel assembly also includes a pedal assembly, and the pedal assembly includes: Footrest assembly, including: A pedal arm, the upper end of which is rotatably disposed on the front wheel frame; a foot pedal connected to the lower end of the pedal arm; and a rolling wheel, disposed on the pedal assembly and configured to roll in contact with the support surface during the process of the front wheel frame rotating and folding relative to the seat cushion assembly, When the pedal assembly is in any state, the rolling wheel is located at a position closer to the supporting surface relative to the connecting portion of the foot pedal, the pedal arm, and the front wheel frame.

2. The folding wheelchair according to claim 1, characterized in that: A front rotation axis and a rear rotation axis are respectively provided between the upper ends of the front wheel assembly and the rear wheel assembly and the seat cushion assembly; The front rotation axis and the rear rotation axis are skew lines, whereby the second side of the front wheel assembly and the rear wheel assembly avoids the first side when the seat cushion assembly is folded.

3. The folding wheelchair according to claim 2, characterized in that: The front rotation axis extends along the lateral direction of the seat cushion assembly, and the rear rotation axis extends obliquely upward toward the side.

4. The folding wheelchair according to claim 2, characterized in that: The first party is the front wheel assembly; The rear wheel assembly is arranged so that the rear wheel assembly rotates relative to the seat cushion assembly between a rear wheel unfolded position and a rear wheel folded position. In the rear wheel unfolded position, the rolling axis of the rear roller of the rear wheel assembly extends along the lateral direction of the seat cushion assembly, and in the rear wheel folded position, the rolling axis of the rear roller extends along the thickness direction of the seat cushion assembly.

5. The folding wheelchair according to claim 1, characterized in that: The folding wheelchair further comprises a second drive assembly, wherein the second drive assembly comprises: A second movable member is movably disposed on the seat cushion assembly in a forward and backward manner; A second connecting arm, both ends of which are respectively hinged to the second movable member and the second side of the front wheel assembly and the rear wheel assembly; and The second driving unit drives the second movable member to move forward and backward, whereby the second side can be folded or unfolded relative to the seat cushion assembly under the driving action of the second connecting arm.

6. The folding wheelchair according to claim 5, characterized in that: The seat cushion assembly comprises a lower guide rod and an upper guide rod, wherein the lower guide rod and the upper guide rod both extend forward and backward and are arranged at the middle position of the cushion of the seat cushion assembly in the left-right direction; The first movable member can be movably arranged on the lower guide rod, and the second movable member can be movably arranged on the upper guide rod.

7. The folding wheelchair according to claim 5, characterized in that: The folding wheelchair also includes: a position detection unit, used for detecting a moving position of the first movable member and / or the second movable member; The controller transmits a control signal to the first driving unit and / or the second driving unit based on the movement position detected by the position detection unit.

8. The folding wheelchair according to claim 1, characterized in that: The pedal arm is provided with a mounting hole having a cross section with an elongated direction; The foot pedal has a connecting portion and is rotatably connected to the pedal arm through the connecting portion, whereby the foot pedal can be rotated relative to the pedal arm to a first pedal deployment position for a user to step on, wherein the connecting portion has a deployment mating portion; The pedal assembly further includes a limiting device, which includes: a limiting rod movably passing through the mounting hole of the pedal arm along the extension direction; and A limiting elastic member, the elastic force of which has a tendency to cause the limiting rod to move along the extension direction until it abuts against the side wall of the mounting hole, whereby the limiting rod cooperates with the unfolding mating portion of the connecting portion so that the foot pedal is maintained in the first pedal unfolding position relative to the pedal arm.

9. The folding wheelchair according to claim 8, characterized in that: The front wheel frame includes a force applying portion; The pedal arm is configured to be rotatable and retractable relative to the front wheel frame to a pedal retracted position. At the pedal retracted position, the force-applying portion applies force to the limit rod, so that the limit rod overcomes the elastic force of the limit elastic member and disengages from the unfolding mating portion of the connecting portion, whereby the pedal is rotatable relative to the pedal arm.

10. The folding wheelchair according to claim 8, characterized in that: The pedal arm is configured to be rotatable and retractable relative to the front wheel frame to a pedal retracted position, and the first connecting arm is configured to be rotatable and retractable relative to an upper portion of the front wheel frame to a connecting arm extended position. The pedal arm and the first connecting arm are respectively provided with a buckling portion and a buckling portion. When the first connecting arm is located at the connecting arm extended position and the pedal arm is located at the pedal retracted position, the buckling portion of the first connecting arm is buckled with the buckling portion of the pedal arm.

11. The folding wheelchair according to claim 8, characterized in that: The foot pedal is configured to be rotatable relative to the pedal arm to a pedal folded position, and the limit device also includes a limit member, which is connected to the limit rod and is rotatably arranged on the pedal arm, and the connecting portion also has a folding mating portion. When the foot pedal is located in the pedal folded position, the limit member cooperates with the folding mating portion of the connecting portion, so that the foot pedal remains in the pedal folded position.

12. The folding wheelchair according to claim 1, characterized in that: Also includes: A backrest assembly rotatably mounted on the seat cushion assembly; as well as Back locking assembly, comprising: A locking support, mounted to the seat cushion assembly and provided with a locking slot; a mating assembly mounted to the backrest assembly and provided with a locking shaft, wherein the backrest assembly is locked in the backrest deployment position relative to the seat cushion assembly by the locking shaft being engaged in the locking groove; and The back-locking elastic member has an elastic force which has a tendency to keep the lock shaft stuck in the lock groove.

13. The folding wheelchair according to claim 12, characterized in that: Also includes: Unlock components, including: a trigger lever rotatably mounted to the seat cushion assembly; and An unlocking member is movably supported on the locking support and is configured to be pushed by one end of the trigger rod as the trigger rod rotates, thereby pushing the lock shaft out of the lock slot, thereby unlocking the backrest assembly from the backrest deployment position.

14. The folding wheelchair according to claim 13, characterized in that: The first side is the front wheel assembly, the rear wheel assembly includes a rear wheel frame supporting a rear roller, and the rear wheel assembly is rotatably connected to the seat cushion assembly through the upper end of the rear wheel frame; The folding wheelchair is configured such that, during the process of the rear wheel frame rotating and folding relative to the seat cushion assembly from the rear wheel unfolded position to the rear wheel folded position, the rear wheel frame pushes the trigger rod to rotate the trigger rod, and then the trigger rod pushes the lock shaft out of the lock slot.

15. The folding wheelchair according to claim 12, characterized in that: The matching component comprises a locking bracket, which is rotatably mounted on the backrest component, and the locking shaft is arranged at one end of the locking bracket.

16. The folding wheelchair according to claim 1, characterized in that: Also includes: A backrest assembly having a vertically extending mounting section on the side; A handrail assembly, comprising a folding assembly, wherein the folding assembly comprises an armrest, a first rod and a second rod, wherein the armrest has a rod segment, wherein the rod segment, the first rod, the second rod and the mounting segment form a hinged four-bar mechanism, wherein the rod segment and the mounting segment respectively constitute a connecting rod and a frame of the hinged four-bar mechanism, and the first rod and the second rod respectively constitute connecting rods located at the upper side and the lower side of the hinged four-bar mechanism; Wherein, the hinged four-bar mechanism is configured to be switchable from a four-bar unfolded state to a four-bar folded state. In the four-bar unfolded state, the angle between the first bar and the bar segment is α1 and the clamp faces downward. In the four-bar folded state, the angle between the first bar and the bar segment is α2 and the clamp faces upward, wherein α1 is 170-180° and α2 is 0-10°.

17. The folding wheelchair according to claim 1, characterized in that: Also includes: Handrail assemblies, including handrails; and A control component, used to control the forward direction of the wheelchair, comprising: A control seat, provided with a control lever for manual control; and The control bracket is arranged at the front end of the armrest, and the control seat is foldably supported on the control bracket and is arranged to be switchable between a control open state and a control folded state. In the control open state, the control seat is folded to the front side of the control bracket, and the control rod is exposed on the upper side of the control seat. In the control folded state, the control seat is folded above the control bracket, and the control rod is located on the lower side of the control seat.

18. The folding wheelchair according to claim 1, characterized in that: Also includes a backrest assembly, The backrest assembly comprises: A backrest frame having a vertically extending mounting section on the side; Cushions, providing a backrest surface; An upper and a lower push rod, the back cushion, the two push rods and the backrest frame form a hinged four-bar mechanism, wherein the back cushion and the backrest frame respectively constitute a connecting rod and a frame of the hinged four-bar mechanism, and the two push rods constitute two connecting rods of the hinged four-bar mechanism, and the back cushion is arranged to be switchable from a back cushion push-out position to a back cushion folding position via a back cushion middle position relative to the backrest frame, and the back cushion is closer to the front side in the back cushion push-out position than in the back cushion folding position; and A backrest elastic member has one end connected to one of the two push rods and the other end connected to the cushion. The elastic force of the backrest elastic member enables the cushion to have a tendency to switch from the middle position of the cushion to the cushion push-out position or the cushion folded position.

19. A method for folding a folding wheelchair, the folding wheelchair comprising a seat cushion assembly, a front wheel assembly and a rear wheel assembly, characterized in that: The folding method comprises: From the front and rear wheel unfolded state C11, in a state where the front roller of the front wheel assembly and the rear roller of the rear wheel assembly are supported on a support surface, the first side of the front wheel assembly and the rear wheel assembly is rotated and folded toward the seat cushion assembly around a first rotation axis until the first side is horizontally supported on the support surface in a first intermediate state C17, wherein the first rotation axis is provided at a connection between the first side and the seat cushion assembly; From the first intermediate state C17, in a state where the first side is supported horizontally on the support surface, the seat cushion assembly is rotated and unfolded relative to the first side around the first rotation axis, and at the same time, the second side of the front wheel assembly and the rear wheel assembly is rotated and folded relative to the seat cushion assembly around the second rotation axis until the end of the seat cushion assembly close to the position of the first rotation axis is supported on the support surface in the first folded state C20, wherein the second rotation axis is provided at the connection between the second side and the seat cushion assembly; From the first folded state C20, with the end of the seat cushion assembly supported on a support surface, the first side is rotated about the first rotation axis toward the seat cushion assembly and folded to a second folded state C23.

20. The folding method according to claim 19, characterized in that: The first party is a front wheel assembly.

21. The folding method according to claim 19, characterized in that: The folding wheelchair also includes: A first driving assembly includes a first movable member and a first connecting arm, wherein the first movable member is movably arranged on the seat cushion assembly, and both ends of the first connecting arm are respectively hinged to the first movable member and the first side, and the first driving unit drives the first movable member to move forward and backward, so that the first side is rotated, unfolded or folded relative to the seat cushion assembly under the driving action of the first connecting arm; and / or The second driving assembly includes a second movable member and a second connecting arm. The second movable member can be movably arranged on the seat cushion assembly forward and backward. Both ends of the second connecting arm are respectively hinged to the second movable member and the second party. The second driving unit drives the second movable member to move forward and backward, so that the second party can be rotated, unfolded or folded relative to the seat cushion assembly under the driving action of the second connecting arm.

22. The folding method according to claim 21, characterized in that: By detecting the moving position of the first movable member and / or the second movable member, the unfolding and folding state of the first side and / or the second side relative to the seat cushion assembly is determined.

23. The folding method according to claim 19, characterized in that: When the second side is rotated and folded relative to the seat cushion assembly, the second side avoids the first side; and / or When the second side is rotated and folded relative to the seat cushion assembly, the rolling axis of the roller of the second side is changed from extending along the lateral direction of the seat cushion assembly to extending along the thickness direction of the seat cushion assembly.

24. The folding method according to claim 19, characterized in that: The first side is a front wheel assembly, the front wheel assembly includes a front wheel frame supporting a front roller, and the front wheel assembly is rotatably connected to the seat cushion assembly through the upper end of the front wheel frame; The front wheel assembly also includes a pedal assembly, and the pedal assembly includes: Footrest assembly, including: A pedal arm, the upper end of which is rotatably disposed on the front wheel frame; a foot pedal connected to the lower end of the pedal arm; and A rolling wheel, arranged on the pedal assembly; The folding wheelchair reaches the first intermediate state C17 from the front and rear wheel unfolded state C11 via the second intermediate state C15 in which the rolling wheel contacts the supporting surface. In the process from the second intermediate state C15 to the first intermediate state C17, the rolling wheel rolls on the supporting surface, driving the pedal arm to rotate and unfold relative to the front wheel frame.

25. The folding method according to claim 24, characterized in that: The foot pedal is rotatable relative to the pedal arm to a first pedal deployment position and a second pedal deployment position, wherein the angle between the foot pedal and the pedal arm in the first pedal deployment position and the second pedal deployment position is a first predetermined value V1 and a second predetermined value V2, respectively, and the second predetermined value V2 is greater than the first predetermined value V1; The folding wheelchair reaches the first intermediate state C17 from the second intermediate state C15 via the third intermediate state C16. During the process from the second intermediate state to the third intermediate state C16, the foot pedal is maintained at the first pedal unfolded position relative to the pedal arm. During the process from the third intermediate state C16 to the first intermediate state C17, the foot pedal is rotated and unfolded from the first pedal unfolded position to the second pedal unfolded position relative to the pedal arm, wherein the second predetermined value V2 is 175-185°.

26. The folding method according to claim 25, characterized in that: In the process from the second intermediate state to the third intermediate state C16, the foot pedal is maintained in the first pedal extended position relative to the pedal arm through the limiting device, and the pedal arm is rotated to the foot pedal folded position relative to the front wheel frame, and in the foot pedal folded position, the front wheel frame releases the limiting effect of the limiting device, whereby the foot pedal is rotated from the first pedal extended position to the second pedal extended position relative to the pedal arm under the action of gravity, thereby reaching the first intermediate state C17 from the third intermediate state C16.

27. The folding method according to claim 24, characterized in that: In the second folded state C23, the pedal arm is maintained in a pedal-folded position relative to the front wheel frame; and / or In the second folded state C23, the foot pedal is maintained at the pedal folded position relative to the pedal arm.

28. The folding method according to claim 19, characterized in that: The second side is the rear wheel assembly, the rear wheel assembly includes a rear wheel frame supporting a rear roller, and the rear wheel assembly is rotatably connected to the seat cushion assembly through the upper end of the rear wheel frame; The folding wheelchair also includes: A backrest assembly, foldably mounted on the seat cushion assembly; a backrest locking assembly for locking the backrest assembly in a backrest deployed position relative to the seat cushion assembly; and an unlocking assembly, used to unlock the backrest assembly from the backrest deployment position; During the process from the first intermediate state C17 to the first folding state C20, the unlocking assembly is triggered to unlock the backrest assembly from the backrest unfolded position during the folding of the rear wheel frame relative to the seat cushion assembly, thereby allowing the backrest assembly to be folded relative to the seat cushion assembly under the action of gravity.

29. The folding method according to claim 28, characterized in that: The backrest assembly has a vertically extending mounting section on the side; The folding wheelchair also includes armrests; Before the backrest assembly is folded relative to the seat cushion assembly under the action of gravity, the armrest is folded relative to the mounting section. In the folded state of the armrest, a fourth angle between the armrest and the mounting section is -10-20°.

30. The folding method according to claim 29, characterized in that: The folding wheelchair further comprises a control component for controlling the forward direction of the folding wheelchair; The control component comprises: A control seat provided with a control lever for manual control; and A control bracket is arranged at the front end of the armrest, and the control seat is foldably supported on the control bracket; Before the armrest is folded relative to the mounting section, the control bracket is switched from a control open state to a control folded state. In the control open state, the control seat is flipped to the front side of the control bracket, and the control rod is exposed on the upper side of the control seat. In the control folded state, the control seat is folded above the control bracket, and the control rod is located on the lower side of the control seat.

31. The folding method according to claim 28, characterized in that: The backrest assembly comprises a backrest frame and a cushion providing a backrest surface, and the backrest assembly is foldably mounted on the seat cushion assembly through the backrest frame; Before the backrest assembly is folded relative to the seat cushion assembly, the cushion is pushed from a cushion push-out position to a cushion folded position relative to the backrest frame, wherein the cushion is closer to the front side in the cushion push-out position than in the cushion folded position.

Images