An intelligent wheelchair

Abstract

The application relates to the technical field of wheelchairs, in particular to an intelligent wheelchair which comprises a battery box, a storage battery is arranged on the inner side of the battery box, a cushion plate is arranged on the upper side of the battery box, a backrest plate is fixed to one end of the cushion plate, two handrails are arranged on the two sides of the cushion plate, and two guide wheel supports are fixed to the front end of the battery box. The height of the two main wheels can be adjusted through the high-intelligence adjusting mechanism, so that the height of the whole wheelchair and the ground is adjusted; when the speed is relatively high, the height of the whole wheelchair is relatively low, the gravity center can be effectively lowered, the stability of the wheelchair during high-speed driving can be greatly improved, the wheelchair can be prevented from swinging left and right when the speed is relatively high, and the safety is improved; if the height of the whole wheelchair is increased when the wheelchair is driven at a low speed, the passing performance of the wheelchair can be effectively improved, and the wheelchair can cross a relatively rugged road at a low speed.

Description

Technical Field

[0001] This invention relates to the field of wheelchair technology, and in particular to an intelligent wheelchair. Background Technology

[0002] Wheelchairs consist of a frame, wheels, seat, and armrests, and are primarily used for patient rehabilitation and as a means of transportation for people with limb disabilities. With rising consumer spending power, various electric wheelchairs have emerged on the market, significantly improving user convenience.

[0003] A search revealed a Chinese patent with publication number CN105832472B, which discloses an electric wheelchair comprising a seat, a body, and a controller. The body is disposed below the seat, and the controller is disposed within the seat and / or the body. The body is provided with a first translation mechanism; the seat is provided with a second translation mechanism, and the first and second translation mechanisms are movably connected to each other. The controller is electrically connected to the first and / or second translation mechanisms, and controls the first and / or second translation mechanisms to perform horizontal movement.

[0004] Based on the above search and combined with the real-world problems, it was found that: the two main wheels of existing electric wheelchairs are connected by the main frame of the wheelchair, and the two main wheels are not independent of each other. When traveling on bumpy roads, the wheelchair sways greatly from side to side. Moreover, the main wheels cannot effectively filter shocks when driving over road bumps, which greatly reduces the comfort of riding. In addition, existing electric wheelchairs are usually fast. If the user makes a sharp turn at a high speed, the wheelchair can easily tip over, causing a safety accident. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent wheelchair to solve the problems mentioned in the background art.

[0006] The technical solution of this invention is: an intelligent wheelchair, including a battery box, a battery installed inside the battery box, a seat cushion on the upper side of the battery box, a backrest fixed to one end of the seat cushion, and two armrests on both sides of the seat cushion. Two guide wheel brackets are fixed to the front end of the battery box, each guide wheel bracket has a front guide wheel installed at one end, and a foot pedal is installed between the two guide wheel brackets. Two main wheels are arranged on both sides of the battery box, and a controller is installed at the rear end of the battery box. The wheelchair also includes: two stabilizing suspension mechanisms, respectively located at the positions of the two main wheels and both sides of the battery box; and an adjustable torsion bar mechanism, located between the rear end of the battery box and the two stabilizing suspension mechanisms. Each stabilizing suspension mechanism includes a C-shaped frame fixed to one side of the battery box and a connecting rod plate rotatably connected to one end of the main wheel. Four guide posts are fixed at the four corners of the inner side of the C-shaped frame. The four guide columns are slidably connected to lifting blocks on their outer sides. Two adjusting grooves are formed inside the lifting blocks at their upper and lower ends. Lower and upper sliders are slidably connected to the inner sides of the two adjusting grooves, respectively. Two lower connecting rods are rotatably connected to the two ends of the lower slider, and two upper connecting rods are rotatably connected to the two ends of the upper slider. The ends of the two upper and two lower connecting rods are rotatably connected to the two ends of a connecting rod connecting plate. A connecting rod is rotatably connected between the two lower connecting rods. A damping shock absorber is rotatably connected to one side of the upper end of the lifting block. A buffer spring is sleeved on the outer side of the telescopic end of the damping shock absorber, and the telescopic end of the damping shock absorber is rotatably connected to the outer side of the connecting rod. A travel motor is installed on one side of the connecting rod connecting plate. The drive end of the travel motor is fixedly connected to one end of the main wheel. A height intelligent adjustment mechanism is provided between the lifting block and the C-shaped frame. An angle adjustment mechanism is provided between the upper and lower sliders and between the lifting block and the C-shaped frame.

[0007] Preferably, the height intelligent adjustment mechanism includes two internally threaded sleeves fixed on both sides of the lifting block, two vertical lead screws rotatably connected to the inner side of the C-shaped frame corresponding to the positions of the two internally threaded sleeves, and an adjustment motor installed on the upper end of the inner side of the C-shaped frame. The driving end of the adjustment motor is fixed with a drive pulley. The two vertical lead screws are rotatably connected to the inner side of the two internally threaded sleeves respectively by threads, and the upper end of the two vertical lead screws is fixed with a driven pulley. The two driven pulleys are rotatably connected to the drive pulley by belts. The adjustment motor is electrically connected to the controller.

[0008] Preferably, the tilt adjustment mechanism includes an upper transverse lead screw and a lower transverse lead screw rotatably connected inside two adjustment slides, a rack fixed inside one side of the C-shaped frame, and two second gears rotatably connected to the outside of the lifting block at positions corresponding to the upper and lower transverse lead screws. The upper and lower transverse lead screws are rotatably connected to the inner sides of the upper and lower sliders respectively by threads, and a lead screw gear is fixed at the end of each of the upper and lower transverse lead screws. A first gear is fixed at one end of each of the two second gears. Both first gears mesh with the rack through their teeth, and both second gears mesh with the two lead screw gears through their teeth.

[0009] Preferably, the thread pitch of the lower transverse lead screw is greater than the thread pitch of the upper transverse lead screw.

[0010] Preferably, the module of the second gear is greater than the module of the lead screw gear.

[0011] Preferably, the adjustable torsion bar mechanism includes two sliding plates rotatably connected to the lower side of two connecting rod plates and a support sleeve fixed to the rear end of the battery box. Two elastic torsion bars are symmetrically inserted into both ends of the support sleeve. Torsion bar grooves are formed inside the two sliding plates. One end of each elastic torsion bar is slidably connected to the inner side of the two torsion bar grooves, and the other end of each elastic torsion bar is fixed with a connecting sleeve and a fixed disc. Multiple circumferentially arranged spline grooves are formed inside the connecting sleeve. Multiple circumferentially arranged disc guide rods are slidably inserted inside the fixed disc. A connecting disc is fixed to one end of each disc guide rod. A spline is fixed to the outer side of the connecting disc at the position corresponding to each spline groove. Multiple push springs sleeved on the outer side of the multiple disc guide rods are connected to one end of the connecting disc. An electromagnet is installed at the center of one end of the fixed disc. The electromagnet is electrically connected to the controller.

[0012] Preferably, one end of each spline is chamfered.

[0013] Preferably, the thread helix angle between the vertical lead screw and the internal threaded sleeve is less than the friction angle.

[0014] Preferably, the upper connecting rod and the lower connecting rod are parallel to each other and have the same length.

[0015] Preferably, four seat cushion brackets are fixed at the upper edge of the outer ends of the battery box, and an isolation rubber block is fixed on the upper side of each of the four seat cushion brackets. The upper ends of the four isolation rubber blocks are fixedly connected to the lower side of the seat cushion.

[0016] The present invention provides an improved intelligent wheelchair, which, compared with the prior art, has the following improvements and advantages:

[0017] Firstly, this invention utilizes a stable suspension mechanism. When the road surface is bumpy, the main wheel can swing up and down due to the bumps. When the main wheel moves upward due to a road protrusion, it drives the two upper and two lower connecting rods to rotate upward. This compresses the extension and retraction ends of the damping shock absorber and the buffer spring. The compression of the buffer spring acts as a buffer, reducing the overall swaying sensation of the wheelchair and improving comfort. At the same time, the extension and retraction ends of the damping shock absorber can absorb energy, reducing the large-scale swaying of the wheelchair caused by road bumps and improving the stability of the wheelchair.

[0018] Secondly, this invention uses a height-adjustable intelligent mechanism to adjust the height of the two main wheels, thereby adjusting the overall height of the wheelchair relative to the ground. When the speed is high, the overall height of the wheelchair is lowered, which can effectively lower the center of gravity and thus greatly improve the stability of the wheelchair at high speeds, preventing the wheelchair from swaying significantly from side to side at high speeds and improving safety. Similarly, if the overall height of the wheelchair is increased at low speeds, the wheelchair's passability can be effectively improved, allowing the wheelchair to traverse more rugged terrain at low speeds.

[0019] Thirdly, this invention, through its tilt adjustment mechanism, can adjust the wheelbase between the two main wheels and the tilt angle between the main wheels and the ground while adjusting the overall height of the wheelchair. When traveling at high speed, the main wheels can tilt at a certain angle, with the upper side of the main wheels tilting inward, while increasing the wheelbase between the two main wheels. This improves the overall support reliability of the wheelchair, further reduces the lateral swaying amplitude of the wheelchair when traveling at high speed, and can prevent the wheelchair from tipping over when turning at high speed, thus improving safety.

[0020] Fourthly, this invention, through an adjustable torsion bar mechanism, allows the two main wheels to separate and operate independently when the wheelchair is traveling at low speeds. When the two main wheels are traveling on bumpy roads, they can swing up and down independently, reducing the swaying of the wheelchair and improving comfort and stability. At high speeds, the two main wheels are rigidly connected, which can reduce the lateral tilt angle of the wheelchair when making sharp turns, further improving the turning stability of the wheelchair and preventing it from tipping over during sharp turns. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2This is a schematic diagram of the first cross-sectional structure of the present invention;

[0024] Figure 3 For the present invention Figure 2 Enlarged structural diagram at point D;

[0025] Figure 4 For the present invention Figure 2 Enlarged structural diagram at point E;

[0026] Figure 5 This is a schematic diagram of the second cross-sectional structure of the present invention;

[0027] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A;

[0028] Figure 7 For the present invention Figure 5 Enlarged structural diagram at point C;

[0029] Figure 8 This is a schematic diagram of the highly intelligent adjustment mechanism in this invention;

[0030] Figure 9 For the present invention Figure 8 A magnified structural diagram at point B in the middle.

[0031] Figure label:

[0032] 1. Battery box; 2. Seat cushion; 3. Backrest; 4. Armrest; 5. Guide wheel bracket; 6. Front guide wheel; 7. Foot pedal; 8. Main wheel; 9. Controller; 10. Seat cushion bracket; 11. Insulating rubber block; 101. C-shaped frame; 102. Guide column; 103. Lifting block; 104. Adjustment slide; 105. Lower slider; 106. Upper slider; 107. Upper connecting rod; 108. Lower connecting rod; 109. Connecting rod; 110. Damping shock absorber; 111. Buffer spring; 112. Connecting rod connecting plate; 113. Travel motor; 201. Internal threaded sleeve; 2 02. Vertical lead screw; 203. Adjusting motor; 204. Driving pulley; 205. Driven pulley; 206. Upper transverse lead screw; 207. Lower transverse lead screw; 208. Rack; 209. Lead screw gear; 210. Second gear; 211. First gear; 301. Slide plate; 302. Torsion bar slide; 303. Elastic torsion bar; 304. Support sleeve; 305. Connecting sleeve; 306. Spline groove; 307. Fixed disc; 308. Disc guide rod; 309. Connecting disc; 310. Spline; 311. Electromagnet; 312. Push spring. Detailed Implementation

[0033] The present invention will now be described in detail, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] This invention provides an improved intelligent wheelchair. The technical solution of this invention is as follows:

[0035] like Figures 1 to 9 As shown, this embodiment of the invention provides an intelligent wheelchair, including a battery box 1. A battery is installed inside the battery box 1, and a seat cushion 2 is provided on the upper side of the battery box 1. A backrest 3 is fixed to one end of the seat cushion 2, and two armrests 4 are provided on both sides of the seat cushion 2. Two guide wheel brackets 5 are fixed to the front end of the battery box 1, and a front guide wheel 6 is installed at one end of each guide wheel bracket 5. A foot pedal 7 is installed between the two guide wheel brackets 5. Two main wheels 8 are provided on both sides of the battery box 1, and a controller 9 is installed at the rear end of the battery box 1. It also includes: two stabilizing suspension mechanisms, which are respectively located on both sides of the two main wheels 8 and the battery box 1; an adjustable torsion bar mechanism, which is located between the rear end of the battery box 1 and the two stabilizing suspension mechanisms; the stabilizing suspension mechanism includes a C-shaped frame 101 fixed to one side of the battery box 1 and a connecting rod connecting plate 112 rotatably connected to one end of the main wheel 8, four guide posts 102 are fixed at the four corners of the inner side of the C-shaped frame 101, and lifting blocks 103 are slidably connected to the outer sides of the four guide posts 102. The lifting block 103 has two adjusting grooves 104 at its upper and lower ends. A lower slider 105 and an upper slider 106 are slidably connected to the inner sides of the two adjusting grooves 104, respectively. Two lower connecting rods 108 are rotatably connected to the two ends of the lower slider 105, and two upper connecting rods 107 are rotatably connected to the two ends of the upper slider 106. The ends of the two upper connecting rods 107 and the two lower connecting rods 108 are rotatably connected to the two ends of the connecting rod connecting plate 112, respectively. A connecting rod 109 is rotatably connected between the two lower connecting rods 108. The upper part of the lifting block 103... A damping shock absorber 110 is rotatably connected to one end of the damping shock absorber 110. A buffer spring 111 is sleeved on the outer side of the telescopic end of the damping shock absorber 110, and the telescopic end of the damping shock absorber 110 is rotatably connected to the outer side of the connecting rod 109. A walking motor 113 is installed on one side of the connecting rod connecting plate 112. The drive end of the walking motor 113 is fixedly connected to one end of the main wheel 8. A height intelligent adjustment mechanism is provided between the lifting block 103 and the C-shaped frame 101. An angle adjustment mechanism is provided between the upper slider 106 and the lower slider 105 and the lifting block 103 and the C-shaped frame 101.

[0036] Furthermore, the height intelligent adjustment mechanism includes two internally threaded sleeves 201 fixed on both sides of the lifting block 103, two vertical lead screws 202 rotatably connected to the inner side of the C-shaped frame 101 corresponding to the positions of the two internally threaded sleeves 201, and an adjustment motor 203 installed on the upper end of the inner side of the C-shaped frame 101. The driving end of the adjustment motor 203 is fixed with a drive pulley 204. The two vertical lead screws 202 are rotatably connected to the inner side of the two internally threaded sleeves 201 respectively through threads, and the upper end of the two vertical lead screws 202 is fixed with a driven pulley 205. The two driven pulleys 205 are rotatably connected to the drive pulley 204 through a belt. The adjustment motor 203 is electrically connected to the controller 9.

[0037] The height of the two main wheels 8 can be adjusted through the intelligent height adjustment mechanism, thereby adjusting the height of the wheelchair as a whole relative to the ground. When the speed is high, the height of the wheelchair is lowered, which can effectively lower the center of gravity and thus greatly improve the stability of the wheelchair at high speeds. This prevents the wheelchair from swaying significantly from side to side at high speeds, thereby improving safety.

[0038] Furthermore, the tilt adjustment mechanism includes an upper transverse lead screw 206 and a lower transverse lead screw 207 rotatably connected inside the two adjustment slides 104, a rack 208 fixed inside one side of the C-shaped frame 101, and two second gears 210 rotatably connected to the outside of the lifting block 103 at positions corresponding to the upper transverse lead screw 206 and the lower transverse lead screw 207. The upper transverse lead screw 206 and the lower transverse lead screw 207 are rotatably connected to the inner sides of the upper slider 106 and the lower slider 105 respectively by threads. The ends of the upper transverse lead screw 206 and the lower transverse lead screw 207 are fixed with lead screw gears 209. One end of each of the two second gears 210 is fixed with a first gear 211. The teeth of the two first gears 211 mesh with the rack 208, and the teeth of the two second gears 210 mesh with the two lead screw gears 209.

[0039] The tilt adjustment mechanism allows for adjustment of the overall height of the wheelchair, as well as the wheel spacing between the two main wheels 8 and the tilt angle between the main wheels 8 and the ground. During high-speed travel, the main wheels 8 can tilt at a certain angle, with the upper side of the main wheels 8 tilting inward. This also increases the wheel spacing between the two main wheels 8, improving the overall support reliability of the wheelchair and further reducing the lateral swaying amplitude of the wheelchair during high-speed travel.

[0040] Furthermore, the thread pitch of the lower transverse lead screw 207 is greater than the thread pitch of the upper transverse lead screw 206;

[0041] When the lower transverse lead screw 207 and the upper transverse lead screw 206 rotate at the same speed, they can drive the lower slider 105 and the upper slider 106 to move at different speeds. The moving speed of the lower slider 105 is greater than that of the upper slider 106. As the lifting block 103 moves upward, it drives the upper slider 106 to move to the left by a small stroke, and drives the lower slider 105 to move to the left by a larger stroke. This causes the two upper connecting rods 107 to move outward by a small distance, and the two lower connecting rods 108 to move outward by a larger distance. This allows the main wheel 8 to move outward by a certain distance while also generating a certain tilt angle.

[0042] Furthermore, the module of the second gear 210 is greater than the module of the lead screw gear 209;

[0043] When the second gear 210 rotates, it can drive the two lead screw gears 209 to rotate more times, thereby increasing the speed of the lower transverse lead screw 207 and the upper transverse lead screw 206 and improving the tilt angle adjustment sensitivity.

[0044] Furthermore, the adjustable torsion bar mechanism includes two sliding plates 301 rotatably connected to the lower side of the two connecting rod plates 112 and a support sleeve 304 fixed to the rear end of the battery box 1. Two elastic torsion bars 303 are symmetrically inserted into both ends of the support sleeve 304. Torsion bar grooves 302 are formed inside each of the two sliding plates 301. One end of each elastic torsion bar 303 is slidably connected to the inner side of the two torsion bar grooves 302, and the other end of each elastic torsion bar 303 is fixed with a connecting sleeve 305 and a fixing disc 307, respectively. The inner side of the connecting sleeve 305... The side opening has multiple spline grooves 306 arranged in a circle. Multiple circular guide rods 308 arranged in a circle are slidably inserted inside the fixed disc 307. One end of the multiple guide rods 308 is fixed with a connecting disc 309. A spline 310 is fixed on the outer side of the connecting disc 309 at the position corresponding to each spline groove 306. One end of the connecting disc 309 is connected to multiple push springs 312 sleeved on the outer side of the multiple guide rods 308. An electromagnet 311 is installed at the center of one end of the fixed disc 307. The electromagnet 311 is electrically connected to the controller 9.

[0045] With the adjustable torsion bar mechanism, the two main wheels 8 can be separated and made independent when the wheelchair is traveling at low speed. When the two main wheels 8 are traveling on bumpy roads, they can swing up and down independently, reducing the swaying of the wheelchair and improving comfort and stability. At high speed, the two main wheels 8 are rigidly connected, which can reduce the lateral tilt angle of the wheelchair when making sharp turns, further improving the turning stability of the wheelchair and preventing it from tipping over when making sharp turns.

[0046] Furthermore, each spline 310 has a chamfer at one end;

[0047] This allows the spline 310 to be easily inserted into the inside of the spline groove 306, preventing the spline 310 from colliding with the end of the coupling sleeve 305.

[0048] Furthermore, the thread helix angle between the vertical lead screw 202 and the internal thread sleeve 201 is smaller than the friction angle;

[0049] It functions as a self-locking mechanism to prevent slight rotation between the internal threaded sleeve 201 and the vertical lead screw 202, thereby ensuring that the adjustment height of the lifting block 103 remains constant, and thus keeping the overall adjustment height of the wheelchair constant.

[0050] Furthermore, the upper link 107 and the lower link 108 are parallel to each other and have the same length;

[0051] When the upper link 107 and the lower link 108 rotate up and down, they can drive the main wheel 8 to bounce up and down at a constant angle to the ground, thus improving the stability of the wheelchair.

[0052] Furthermore, four seat cushion brackets 10 are fixed at the upper edge of the outer ends of the battery box 1. Each of the four seat cushion brackets 10 has an isolation rubber block 11 fixed on its upper side, and the upper ends of the four isolation rubber blocks 11 are fixedly connected to the lower side of the seat cushion 2.

[0053] The insulating rubber block 11 can elastically connect the seat cushion 2 and the battery box 1, which plays a good role in shock absorption and improves the user's riding comfort.

[0054] Working principle: When in use, the user sits on the upper side of the seat 2 and controls the two walking motors 113 to run synchronously, which can drive the two main wheels 8 to rotate at the same speed, thereby moving the wheelchair as a whole. When there is a bump on the road, the main wheels 8 can swing up and down due to the bump, thereby driving the two lower connecting rods 108 and the two upper connecting rods 107 to rotate up and down synchronously. The two lower connecting rods 108 drive the extension and retraction of the damping shock absorber 110 through the connecting rod 109. When the main wheels 8 move upward due to the road bump, they drive the two upper connecting rods 107 and the two lower connecting rods 108 to rotate upward, which can compress the extension and retraction of the damping shock absorber 110. At the same time, it can also compress the buffer spring 111. The buffer spring 111 plays a buffering role during the compression process, reducing the overall bumpiness of the wheelchair and improving comfort. At the same time, the extension and retraction of the damping shock absorber 110 can absorb energy, reduce the large swaying of the wheelchair caused by road bumps, and improve the walking stability of the wheelchair.

[0055] Two walking motors 113 can feed back their rotational speed to the controller 9. The controller 9 can calculate the wheelchair's speed by detecting the rotational speed of the walking motors 113. As the speed increases, the controller 9 controls the two adjustment motors 203 of the two height intelligent adjustment mechanisms to rotate synchronously. The adjustment motors 203 drive the active pulley 204 to rotate, which in turn drives two driven pulleys 205 via a belt. The two driven pulleys 205 then drive two vertical lead screws 202 to rotate. When the two vertical lead screws 202 rotate, they drive two internally threaded sleeves 201 to move up and down via threads, thereby causing the lifting block 103 to move up and down along the direction of the guide column 102. Block 103 can drive the main wheel 8 to move up and down through the upper connecting rod 107 and the lower connecting rod 108, thereby adjusting the overall height of the wheelchair from the ground. The higher the speed, the controller 9 controls the adjustment motor 203 to rotate more times, thereby driving the lifting block 103 to move up a greater distance, driving the main wheel 8 to move up a greater distance, thus lowering the overall height of the wheelchair, effectively lowering the center of gravity, thereby greatly improving the stability of the wheelchair when traveling at higher speeds, preventing the wheelchair from swaying significantly from side to side at high speeds, and improving safety. Similarly, if the overall height of the wheelchair is increased when traveling at low speeds, the wheelchair's passability can be effectively improved, allowing the wheelchair to cross more rugged roads at low speeds.

[0056] As the lifting block 103 of the height-adjusting mechanism moves upward, it simultaneously drives the upper transverse lead screw 206, lower transverse lead screw 207, second gear 210, and first gear 211 of the tilt adjustment mechanism to move upward. When the first gear 211 moves upward, it meshes with the rack 208 and can rotate, thereby driving the second gear 210 to rotate. Since the module of the second gear 210 is greater than the module of the lead screw 209, the rotation of the two second gears 210 can drive the two lead screws 209 to rotate more times. The two lead screws 209 drive the upper transverse lead screw 206 and the lower transverse lead screw 207 to rotate synchronously. Since the thread pitch of the lower transverse lead screw 207 is greater than the thread pitch of the upper transverse lead screw 206, when they rotate at the same speed, they can drive the lower transverse lead screw 207 to rotate more times. Slider 105 and upper slider 106 move at different speeds, with lower slider 105 moving faster than upper slider 106. As lifting block 103 moves upward, it causes upper slider 106 to move to the left by a small stroke, and lower slider 105 to move to the left by a larger stroke. This causes two upper connecting rods 107 to move outward by a small distance, and two lower connecting rods 108 to move outward by a larger distance. This allows the main wheel 8 to move outward by a certain distance while simultaneously creating a certain tilt angle. The upper side of the main wheel 8 tilts inward, increasing the wheelbase between the two main wheels 8, improving the overall support reliability of the wheelchair, further reducing the lateral swaying amplitude of the wheelchair during high-speed travel, and preventing the wheelchair from tipping over when turning at high speeds, thus improving safety.

[0057] When traveling at low speeds, the controller 9 energizes the electromagnet 311 of the adjustable torsion bar mechanism to generate attraction, drawing the connecting disc 309 outwards towards the connecting sleeve 305. Simultaneously, the connecting disc 309 compresses the push spring 312, separating the connecting disc 309 from the connecting sleeve 305. At this point, the two elastic torsion bars 303 at both ends separate, and the two main wheels 8 operate independently. The up-and-down movement of one main wheel 8 will not affect the other, increasing wheelchair comfort at low speeds. When traveling at high speeds, the controller 9 de-energizes the electromagnet 311, causing it to lose its attraction. At this time, the push spring... Spring 312 pushes the engaging disc 309 into the inner side of the engaging sleeve 305, while multiple splines 310 are inserted into the inner side of multiple spline grooves 306. One end of the spline 310 is chamfered to facilitate its smooth insertion into the spline groove 306 and prevent collision between the spline 310 and the end of the engaging sleeve 305. After the spline 310 is inserted into the spline groove 306, the engaging disc 309, the fixing disc 307, and the engaging sleeve 305 become a whole, rigidly connecting the ends of the two elastic torsion bars 303. Both ends are movably connected to the connecting rod connecting plate 112 and the main wheel 8 via the sliding plate 301. At this time, the up-and-down swing of any one of the main wheels 8 can drive a corresponding elastic torsion bar 303 to rotate up and down around the support sleeve 304. The rotation of this elastic torsion bar 303 can drive another elastic torsion bar 303 to rotate up and down, so that the other main wheel 8 can swing up and down at the same time. When the wheelchair is moving at high speed and making a sharp turn, the main wheel 8 on the outer ring is subjected to greater pressure, and the buffer spring 111 located at the outer ring main wheel 8 will be compressed more. Therefore, the outer ring main wheel 8 is relatively close to the battery. Battery box 1 swings upwards to a greater extent, but as the outer main wheel 8 swings upwards, it drives a corresponding elastic torsion bar 303 to rotate upwards. This elastic torsion bar 303 drives another elastic torsion bar 303 to rotate upwards simultaneously. When the other elastic torsion bar 303 rotates upwards, it can give the inner main wheel 8 an upward force. The reaction force of this force can pull the battery box 1 on one side of the inner ring downwards, thus playing a good balancing role, reducing excessive lateral tilt of the wheelchair due to sharp turns, further improving the turning stability of the wheelchair, and avoiding tipping over during sharp turns.

[0058] The foregoing description enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent wheelchair, comprising a battery box (1), wherein a battery is installed inside the battery box (1), and a seat cushion (2) is provided on the upper side of the battery box (1), a backrest (3) is fixed to one end of the seat cushion (2), and two armrests (4) are provided on both sides of the seat cushion (2), two guide wheel brackets (5) are fixed to the front end of the battery box (1), a front guide wheel (6) is installed at one end of each of the two guide wheel brackets (5), and a foot pedal (7) is installed between the two guide wheel brackets (5), two main wheels (8) are provided on both sides of the battery box (1), and a controller (9) is installed at the rear end of the battery box (1), characterized in that, Also includes: Two stabilizing suspension mechanisms are respectively located on both sides of the two main wheels (8) and the battery box (1); An adjustable torsion bar mechanism is provided at the rear end of the battery box (1) and between the two stabilizing suspension mechanisms. The stabilizing suspension mechanism includes a C-shaped frame (101) fixed to one side of the battery box (1) and a connecting plate (112) rotatably connected to one end of the main wheel (8). Four guide posts (102) are fixed at the four corners of the inner side of the C-shaped frame (101). Lifting blocks (103) are slidably connected to the outer sides of the four guide posts (102). Two adjusting grooves (104) are opened at the upper and lower ends of the lifting blocks (103). Lower sliders (105) and upper sliders (106) are slidably connected to the inner sides of the two adjusting grooves (104). Two lower connecting rods (108) are rotatably connected to the two ends of the lower sliders (105). Two upper connecting rods (107) are rotatably connected to the two ends of the upper sliders (106). The ends of the two upper connecting rods (107) and the two lower connecting rods (108) are connected to the lower sliders (105). The two lower connecting rods (108) are rotatably connected to the two ends of the connecting rod plate (112), and a connecting rod (109) is rotatably connected between the two lower connecting rods (108). A damping shock absorber (110) is rotatably connected to one side of the upper end of the lifting block (103). A buffer spring (111) is sleeved on the outside of the telescopic end of the damping shock absorber (110), and the telescopic end of the damping shock absorber (110) is rotatably connected to the outside of the connecting rod (109). A walking motor (113) is installed on one side of the connecting rod plate (112). The driving end of the walking motor (113) is fixedly connected to one end of the main wheel (8). A height intelligent adjustment mechanism is provided between the lifting block (103) and the C-shaped frame (101). An angle adjustment mechanism is provided between the upper slider (106) and the lower slider (105) and the lifting block (103) and the C-shaped frame (101). The height intelligent adjustment mechanism includes two internal threaded sleeves (201) fixed on both sides of the lifting block (103), two vertical screws (202) rotatably connected to the inner side of the C-shaped frame (101) corresponding to the positions of the two internal threaded sleeves (201), and an adjustment motor (203) installed on the upper end of the inner side of the C-shaped frame (101). The driving end of the adjustment motor (203) is fixed with a drive pulley (204). The two vertical screws (202) are rotatably connected to the inner side of the two internal threaded sleeves (201) respectively by threads, and the upper end of the two vertical screws (202) is fixed with a driven pulley (205). The two driven pulleys (205) are rotatably connected to the drive pulley (204) by belts. The adjustment motor (203) is electrically connected to the controller (9). The tilt adjustment mechanism includes an upper transverse lead screw (206) and a lower transverse lead screw (207) rotatably connected inside two adjusting slides (104), a rack (208) fixed inside one side of the C-shaped frame (101), and two second gears (210) rotatably connected to the outside of the lifting block (103) at positions corresponding to the upper transverse lead screw (206) and the lower transverse lead screw (207). The upper transverse lead screw (206) and the lower transverse lead screw (207) are both connected by threads. The upper slider (106) and lower slider (105) are rotatably connected to each other, and the ends of the upper transverse lead screw (206) and the lower transverse lead screw (207) are fixed with lead screw gears (209). One end of each of the two second gears (210) is fixed with a first gear (211). The two first gears (211) mesh with the rack (208) through their teeth, and the two second gears (210) mesh with the two lead screw gears (209) through their teeth. The adjustable torsion bar mechanism includes two sliding plates (301) rotatably connected to the lower side of two connecting rod plates (112) and a support sleeve (304) fixed to the rear end of the battery box (1). Two elastic torsion bars (303) are symmetrically inserted into both ends of the support sleeve (304). Torsion bar grooves (302) are opened inside the two sliding plates (301). One end of the two elastic torsion bars (303) is slidably connected to the inner side of the two torsion bar grooves (302), and the other end of the two elastic torsion bars (303) is fixed with a connecting sleeve (305) and a fixing disc (307), respectively. The inner side of the connecting sleeve (305) is opened with a... Multiple circumferentially arranged spline grooves (306) are provided. Multiple circumferentially arranged disc guide rods (308) are slidably inserted inside the fixed disc (307). One end of the multiple disc guide rods (308) is fixed with a connecting disc (309). A spline (310) is fixed on the outer side of the connecting disc (309) at the position corresponding to each spline groove (306). One end of the connecting disc (309) is connected to multiple push springs (312) sleeved on the outer side of the multiple disc guide rods (308). An electromagnet (311) is installed at the center of one end of the fixed disc (307). The electromagnet (311) is electrically connected to the controller (9).

2. The intelligent wheelchair according to claim 1, characterized in that: The thread pitch of the lower transverse lead screw (207) is greater than that of the upper transverse lead screw (206).

3. The intelligent wheelchair according to claim 1, characterized in that: The module of the second gear (210) is greater than the module of the lead screw gear (209).

4. The intelligent wheelchair according to claim 1, characterized in that: Each of the splines (310) has a chamfer at one end.

5. The intelligent wheelchair according to claim 1, characterized in that: The thread helix angle between the vertical lead screw (202) and the internal thread sleeve (201) is less than the friction angle.

6. The intelligent wheelchair according to claim 1, characterized in that: The upper link (107) and the lower link (108) are parallel to each other and have the same length.

7. The intelligent wheelchair according to claim 1, characterized in that: Four seat cushion brackets (10) are fixed at the upper edge of the outer two ends of the battery box (1). Each of the four seat cushion brackets (10) has an isolation rubber block (11) fixed on its upper side. The upper ends of the four isolation rubber blocks (11) are fixedly connected to the lower side of the seat cushion plate (2).

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