A ramp self-balancing device and multi-posture wheelchair

Abstract

The present invention provides a ramp self-balancing device and a multi-posture wheelchair, comprising a bearing assembly and a posture adjustment assembly. The posture adjustment assembly comprises a first posture adjustment assembly and a second posture adjustment assembly; the first posture adjustment assembly is slidably connected to the first connection end of the bearing assembly, and is rotationally connected to the second connection end of the bearing assembly, and the adjustment direction of the first posture adjustment assembly is parallel to the length direction of the bearing assembly, so that when the first posture adjustment assembly is in a working state, the bearing assembly can rotate with the second connection end as the axis; the second posture adjustment assembly is supported by the first connection end of the bearing assembly through the first posture adjustment assembly, the second posture adjustment assembly is rotationally connected to the second connection end of the bearing assembly, and the adjustment direction of the second posture adjustment assembly intersects with the length direction of the bearing assembly, so that when the second posture adjustment assembly is in a working state, the bearing assembly can rotate with the first connection end as the axis.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation assistive devices, and in particular to a ramp self-balancing device and a multi-posture wheelchair. Background Art

[0002] Wheelchairs are the most commonly used mobility aids for the elderly and disabled. With the development of society and economy, wheelchairs have become more versatile. In addition to the basic mobility aid function, they also have many additional functions, such as ramp self-balancing function and multi-posture adjustment function.

[0003] When a wheelchair with a ramp self-balancing function in the prior art is traveling on a ramp, the height of the movable end of the seat surface is changed by an adjustment component so that the seat surface rotates around its rotating end to achieve the function of adjusting the horizontal angle of the seat. However, during the adjustment process, the change in the height of the seat surface causes the center of gravity of the wheelchair to change, causing the user to feel an unstable center of gravity and be prone to the risk of falling backwards. On the other hand, the wheelchairs in the prior art have fewer convertible postures. For people who use wheelchairs for a long time, sitting for a long time will increase the risk of various diseases such as spinal injuries and pressure sores. In addition, the process of changing the posture of the wheelchair often requires manual operation, which increases the corresponding use cost and is not conducive to the daily use of the wheelchair. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a ramp self-balancing device and a multi-posture wheelchair to eliminate or improve one or more defects existing in the prior art.

[0005] One aspect of the present invention provides a ramp self-balancing device, comprising a bearing assembly and a posture adjustment assembly, wherein the posture adjustment assembly comprises a first posture adjustment assembly and a second posture adjustment assembly;

[0006] The first posture adjustment component and the second posture adjustment component are installed at the bottom of the bearing component, and a slide rail is provided at a position of the bearing component close to the first connection end;

[0007] The first posture adjustment component is slidably connected to the first connection end of the bearing component, and is rotatably connected to the second connection end of the bearing component, and the adjustment direction of the first posture adjustment component is parallel to the length direction of the bearing component, so that when the first posture adjustment component is in operation, the bearing component can rotate around the second connection end as an axis;

[0008] The second posture adjustment component is supported by the first connection end of the bearing component through the first posture adjustment component, the second posture adjustment component is rotatably connected to the second connection end of the bearing component, and the adjustment direction of the second posture adjustment component intersects with the length direction of the bearing component, so that when the second posture adjustment component is in operation, the bearing component can rotate around the first connection end as an axis;

[0009] When the first posture adjustment component and the second posture adjustment component work in coordination, the bearing component can be raised and lowered in the vertical direction; the posture adjustment component is used to adjust the pitch angle and height of the bearing component.

[0010] In some embodiments of the present invention, the first posture adjustment assembly includes a slider, a sliding frame, a hinge, a connecting plate, and a connecting rod;

[0011] The slide rail of the bearing assembly at least comprises a first slide rail and a second slide rail, wherein the first slide rail and the second slide rail are fixedly mounted at the bottom of the bearing assembly and are parallel to each other;

[0012] The slider at least includes a first slider, a second slider, a third slider, and a fourth slider, wherein the first slider and the second slider are arranged on the first slide rail, the third slider and the fourth slider are arranged on the second slide rail, and each of the sliders is slidably connected to the slide rail;

[0013] Each of the sliders is mounted on the slide frame, so that when the slider slides along the slide rail, the slide frame is simultaneously driven to move linearly along the slide rail;

[0014] The hinge is mounted on the sliding frame and is rotatably connected to the first end of the connecting rod;

[0015] The connecting plate includes at least a first end and a second end, the second end of the connecting rod is rotatably connected to the second end of the connecting plate, and the second connecting end of the bearing assembly is rotatably connected to the first end of the connecting plate, so that when the sliding frame drives the first end of the connecting rod to slide on the sliding rail, the connecting rod rotates with the second end as the center, thereby driving the bearing assembly to rotate with the first end of the connecting plate as the axis.

[0016] In some embodiments of the present invention, the first posture adjustment assembly further includes a first lead screw, a lead screw seat, a first nut and a first rotary motor;

[0017] At least two screw seats are fixedly installed at the bottom of the bearing assembly, including a first screw seat and a second screw seat; the first screw seat is rotatably connected to the first end of the first screw, and the second screw seat is rotatably connected to the second end of the first screw, for axially fixing the first screw;

[0018] The first lead screw is arranged along the length direction of the slide rail, and the second end of the first lead screw is also fixedly connected to the output end of the first rotating motor. A lead screw nut pair is formed between the first nut and the first lead screw, and the first nut is fixedly connected to the sliding frame, so that when the first rotating motor rotates to drive the first lead screw to rotate, the first nut and the sliding frame are driven to move linearly along the slide rail.

[0019] In some embodiments of the present invention, the second posture adjustment assembly includes a lower fixing member, a side fixing member, a lifting shaft, and a lifting block;

[0020] The lower fixing member and the side fixing member are both fixedly arranged, the lower fixing member is arranged on one side of the side fixing member, the intersection of the lower fixing member and the side fixing member is a sleeve structure, and is installed on the outer periphery of the middle part of the side fixing member through the sleeve structure;

[0021] One end of the lifting shaft is arranged in the side fixing member, and the other end extends out from the side fixing member and is connected to the lifting block, and the lifting shaft is slidably arranged coaxially with the side fixing member;

[0022] The connecting plate further comprises a third end portion and a first middle portion, wherein the third end portion is located away from the first end portion and the second end portion, and the first middle portion is located in the middle of the connecting plate body structure;

[0023] One end of the lower fixing member away from the side fixing member is rotatably connected to the third end portion of the connecting plate, and the lifting block is rotatably connected to the first middle portion of the connecting plate, so that when the lifting block performs a lifting motion, the connecting plate is driven to rotate, and finally the bearing assembly is driven to rotate around the third end portion of the connecting plate as an axis.

[0024] In some embodiments of the present invention, the second posture adjustment assembly further includes a second lead screw, a second nut, a transmission fixing plate, a second rotating motor, a first transmission wheel, a second transmission wheel, and a transmission member;

[0025] The second lead screw is coaxially arranged with the lifting shaft, and the first end of the second lead screw is arranged in the lifting shaft;

[0026] A screw-nut pair is formed between the second nut and the second screw, and the second nut is fixedly connected to one end of the lifting shaft located at the side fixing member;

[0027] The transmission fixing plate is arranged at the bottom of the side fixing member, the second end of the second lead screw is rotatably connected to the transmission fixing plate, and the second rotary motor and the second lead screw are installed on the same side of the transmission fixing plate;

[0028] A first transmission wheel is installed at the end of the second lead screw passing through the transmission fixing plate, and a second transmission wheel is installed at the end of the second rotating motor passing through the transmission fixing plate. The second transmission wheel is connected to the second transmission wheel through a rotating member, so that when the second rotating motor rotates to drive the second lead screw to rotate, the second nut and the lifting shaft are driven to perform lifting and lowering movements along the side fixing member.

[0029] In some embodiments of the present invention, the lower fixing member further includes a slide slot and a shock absorbing frame;

[0030] The slide groove is arranged at one end of the lower fixing member close to the third end, and two slide grooves are arranged, the two slide grooves extend along the length direction of the lower fixing member, and are symmetrically arranged on both sides of the lower fixing member; the third end of the connecting plate is provided with a sliding rod, and the sliding rod can slide along the slide groove;

[0031] The shock absorbing frame is arranged inside the slide groove and protrudes inward relative to the end of the slide groove. The shock absorbing frame is connected to the lower fixing member through a spring gasket, so that when the slide rod moves toward the end of the slide groove, the slide rod can contact the shock absorbing frame in advance, thereby absorbing and reducing the vibration and noise generated by metal friction.

[0032] In some embodiments of the present invention, the lifting shaft is configured as a spline shaft or a shaft-like part with a non-circular cross-section.

[0033] In some embodiments of the present invention, the hinge, the connecting plate, and the connecting rod are each provided in pairs and are symmetrically arranged along the central axis of the ramp self-balancing device.

[0034] Another aspect of the present invention provides a multi-posture wheelchair, comprising the above-mentioned ramp self-balancing device and at least one of a leg rest assembly, a backrest assembly, a front wheel assembly, a rear wheel assembly, a wheelchair chassis, a wheelchair armrest assembly, a backrest cushion, and a seat cushion.

[0035] In some embodiments of the present invention, the leg rest assembly includes a push rod, a leg rest body and a leg rest connector;

[0036] The leg support body is arranged at one end of the first section of the bearing assembly close to the connecting plate, and the leg support body and the bearing assembly are rotatably connected via a rotating shaft;

[0037] The leg support connecting piece is fixedly installed on the side of the leg support body, one end of the leg support connecting piece is fixedly connected to the leg support body, and the other end is rotatably connected to the push rod, and the push rod is also rotatably connected to one end of the first end of the support component away from the connecting plate, so that when the push rod is extended or shortened, the leg support connecting piece drives the leg support body to rotate around the rotating shaft, thereby realizing the lifting or lowering of the leg support assembly.

[0038] The ramp self-balancing device and multi-posture wheelchair of the present invention can improve the safety of the wheelchair when traveling on a ramp and realize multiple posture adjustment functions. The multi-posture wheelchair relies on the ramp self-balancing device to realize the ramp self-balancing function and the multi-posture adjustment function. The first posture adjustment component and the second posture adjustment component of the ramp self-balancing device work together to make the wheelchair seat surface of the multi-posture wheelchair always level during the ramp driving process, ensure the stability of the human body's center of gravity, and improve the safety and comfort of the wheelchair when traveling on the ramp. At the same time, the multi-posture wheelchair built on the ramp self-balancing device can realize multiple posture adjustment functions, which can realize the mutual transformation of the standing posture, sitting posture, tilting and lifting posture of the multi-posture wheelchair, providing users with more usage scenarios, and the multi-posture wheelchair is automatically adjusted by a rotating motor without manual operation, which increases the practicality of the wheelchair.

[0039] To sum up, the dual-posture adjustment mechanism design of the ramp self-balancing device significantly improves the safety and comfort of the wheelchair. At the same time, it expands the adjustable space of the multi-posture wheelchair, can provide patients with more posture options, thereby increasing the use scenarios of the multi-posture wheelchair.

[0040] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically indicated in the specification and the accompanying drawings.

[0041] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0043] Figure 1 Schematic diagram of the structure of a ramp self-balancing device in one embodiment of the present invention.

[0044] Figure 2 Schematic diagram of the structure of the first posture adjustment component and the second posture adjustment component in one embodiment of the present invention.

[0045] Figure 3 It is a schematic diagram of the partial structure of the first posture adjustment component in one embodiment of the present invention.

[0046] Figure 4 It is a schematic diagram of the partial structure of the second posture adjustment component in one embodiment of the present invention.

[0047] Figure 5 Schematic diagram of the structure of a multi-posture wheelchair in one embodiment of the present invention.

[0048] Figure 6 Schematic diagram of the uphill posture of a multi-posture wheelchair in one embodiment of the present invention.

[0049] Figure 7 Schematic diagram of the downhill posture of a multi-posture wheelchair in one embodiment of the present invention.

[0050] Figure 8 Schematic diagram of the lifting posture of a multi-posture wheelchair in one embodiment of the present invention.

[0051] Fig. 9 Schematic diagram of the standing posture of a multi-posture wheelchair in one embodiment of the present invention.

[0052] Reference numerals

[0053] 100, bearing assembly; 101, first connecting member; 101a, first connecting block; 101b, second connecting block; 101c, third connecting block; 102, bearing plate; 102a, fourth connecting block; 103, second connecting member; 103a, sixth connecting block; 103b, seventh connecting block;

[0054] 200, leg support assembly; 201, leg support connector; 202, leg support body;

[0055] 300, posture adjustment assembly; 300a, first posture adjustment assembly; 300b, second posture adjustment assembly; 301, first slide rail; 302, second slide rail; 303, first slider; 304, second slider; 305, third slider; 306, fourth slider; 307, sliding frame; 308, first hinge; 309, second hinge; 310, first lead screw seat; 311, second lead screw seat; 312, first lead screw; 312a, first end; 312b, second end; 313, first nut; 314, first connecting rod; 315, second connecting rod; 316, first connecting plate; 316 a, first end; 316b, second end; 316c, third end; 316d, first middle part; 317, second connecting plate; 317a, fifth end; 320, lower fixing member; 320a, slide groove; 320b, sleeve; 321, shock absorber frame; 322, spring washer; 323, side fixing member; 323a, fixing member body; 323b, side fixing plate; 324, lifting block; 325, lifting shaft; 326, second nut; 327, second lead screw; 329, transmission fixing plate; 330, bearing; 331, first transmission wheel; 332, second transmission wheel; 333, transmission member;

[0056] 002, rotating shaft; 003, push rod; 004, first rotating motor; 005, second rotating motor; 006, backrest cushion; 007, seat cushion;

[0057] I. Backrest assembly; II. Front wheel assembly; III. Rear wheel assembly; IV. Wheelchair chassis; V. Wheelchair armrest assembly. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0059] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0060] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0061] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection with an intermediate.

[0062] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0063] With regard to the wheelchairs with self-balancing function in the prior art, when traveling on a ramp, the center of gravity of the wheelchair changes constantly, causing the user to feel an unstable center of gravity and be prone to the risk of falling backwards. The present invention creatively proposes a ramp self-balancing device with a dual-posture adjustment mechanism, which can allow the wheelchair seat surface to always be level during the process of traveling on a ramp, so that the center of gravity remains stable, thereby improving the safety and comfort of the wheelchair.

[0064] like Figure 1 As shown, the present invention provides a ramp self-balancing device, including a bearing assembly 100 and a posture adjustment assembly 300, wherein the posture adjustment assembly 300 includes a first posture adjustment assembly 300a and a second posture adjustment assembly 300b; the first posture adjustment assembly 300a and the second posture adjustment assembly 300b are installed at the bottom of the bearing assembly 100, and a slide rail is provided near the first connection end of the bearing assembly 100.

[0065] The first posture adjustment component 300a is slidably connected to the first connection end of the bearing component 100, and is rotatably connected to the second connection end of the bearing component 100, and the adjustment direction of the first posture adjustment component 300a is parallel to the length direction of the bearing component 100, so that when the first posture adjustment component 300a is in operation, the bearing component 100 can rotate around the second connection end. The second posture adjustment component 300b is supported by the first posture adjustment component 300a and is rotatably connected to the second connection end of the bearing component 100, and the adjustment direction of the second posture adjustment component 300b intersects with the length direction of the bearing component 100, so that when the second posture adjustment component 300b is in operation, the bearing component 100 can rotate around the first connection end.

[0066] When the first posture adjustment component 300 a and the second posture adjustment component 300 b work in coordination, the bearing component 100 can be raised and lowered in the vertical direction; the posture adjustment component 300 is used to adjust the pitch angle and height of the bearing component 100 .

[0067] In the above embodiment, the first posture adjustment component 300a is rotationally connected to the supporting component 100, and its sliding direction is parallel to the supporting component 100. When the distance between the first posture adjustment component 300a and the second connecting end of the supporting component 100 becomes smaller, the depression angle of the supporting component 100 becomes larger; when the distance between the first posture adjustment component 300a and the connecting part becomes larger, the depression angle of the supporting component 100 becomes smaller; the second posture adjustment component 300b is rotationally connected to the supporting component 100, and its adjustment direction intersects with the supporting component 100. When the second posture adjustment component 300b is extended in the direction close to the second connecting end of the supporting component 100, the elevation angle of the supporting component 100 becomes larger, and when the second posture adjustment component 300b is shortened in the direction away from the second connecting end of the supporting component 100, the elevation angle of the supporting component 100 becomes smaller.

[0068] The special structural design of the first posture adjustment component 300a and the second posture adjustment component 300b can not only improve the safety and comfort of the ramp self-balancing device, but also expand the adjustment range of the ramp self-balancing device and increase its application scenarios, such as uphill, downhill and lifting and transporting. The first posture adjustment component 300a and the second posture adjustment component 300b of the ramp self-balancing device work together to enable the bearing component 100 to move up and down in the vertical direction and always remain horizontal.

[0069] The above-mentioned bearing assembly 100 also includes a first connecting member 101, a bearing plate 102, and a second connecting member 103, which are fixedly connected in sequence, and the fixed connection can be a bolt connection. The first connecting block 101a, the second connecting block 101b, and the third connecting block 101c are arranged on both sides of the first connecting member 101. The first connecting block 101a and the second connecting block 101b are symmetrically arranged and are used to connect the corresponding functional assembly of the bearing assembly 100; the fourth connecting block 102a and the fifth connecting block are symmetrically arranged at one end of the bearing plate 102 for connecting the posture adjustment assembly 300; the other end of the bearing plate 102 is also provided with a fixing hole; the sixth connecting block 103a and the seventh connecting block 103b are arranged on both sides of the second connecting member 103 for connecting the corresponding functional assembly. The above-mentioned connecting blocks are all provided with through holes for installing the corresponding connecting members.

[0070] In some embodiments, the connecting member and the connecting block are connected by bolts. The use of bolts can simplify the structure of each component. Components with relatively simple structures require fewer processing steps during the production process, thereby reducing production costs and facilitating large-scale production and reference of the ramp self-balancing device.

[0071] In other embodiments, the connecting pieces and the connecting blocks are integrally formed structures, which can enhance the structural strength of each component. The components are integrally formed to give them a stable structural shape, and the screws will not loosen or fall off during long-term movement, thereby increasing the stability and reliability of the ramp self-balancing device, which is conducive to adapting to heavy weight and long-term usage scenarios. At the same time, the one-piece molded component design also reduces the overall number of components, which is conducive to simplifying the installation steps, reducing the difficulty of installation, and facilitating the daily use of the ramp self-balancing device.

[0072] In some embodiments, Figure 2 As shown, the first posture adjustment component 300a includes a slider, a sliding frame 307, a hinge, a first connecting plate 316, and a connecting rod; the slide rail of the supporting component 100 includes at least a first slide rail 301 and a second slide rail 302, and the first slide rail 301 and the second slide rail 302 are fixedly installed at the bottom of the supporting component 100 and are parallel to each other; the front side is the first slide rail 301, and the other side is the second slide rail 302. The provision of two parallel slide rails can enable the posture adjustment component 300 to slide stably.

[0073] The sliders at least include a first slider 303, a second slider 304, a third slider 305, and a fourth slider 306. The first slider 303 and the second slider 304 are arranged on the first slide rail 301, the third slider 305 and the fourth slider 306 are arranged on the second slide rail 302, and each of the sliders is slidably connected to the slide rail. Each of the sliders is installed on the slide frame 307, so that when the slider slides along the slide rail, it also drives the slide frame 307 to move linearly along the slide rail; the sliders are arranged at the four corners of the slide frame 307, so that the slide frame 307 and the slide rail can always remain parallel during the sliding process. The first hinge 308 is installed on the slide frame 307 and is rotatably connected to the first end of the connecting rod. The first connecting plate 316 at least includes a first end 316a and a second end 316b, the second end of the connecting rod is rotatably connected to the second end 316b of the first connecting plate 316, and the second connecting end of the supporting component 100 is rotatably connected to the first end 316a of the first connecting plate 316, so that when the sliding frame 307 drives the first end of the connecting rod to slide on the sliding rail, the connecting rod rotates with the second end as the center, thereby driving the supporting component 100 to rotate with the first end 316a of the first connecting plate 316 as the axis.

[0074] Furthermore, the first slider 303, the second slider 304, are inserted into the first slide rail 301 and can move along the first slide rail 301, and the third slider 305, the fourth slider 306 are inserted into the second slide rail 302 and can move along the second slide rail 302. The four corners of the sliding frame 307 are reserved for mounting slots for fixing the first slider 303, the second slider 304, the third slider 305, and the fourth slider 306 on the sliding member; the two sides of the sliding frame 307 are reserved for fixing the first hinge 308. The first slider 303, the second slider 304, the third slider 305, the fourth slider 306, the sliding frame 307, the hinge, and the first nut 313 together form a whole, which can move along the first slide rail 301 and the second slide rail 302, forming a moving pair. When the first rotating motor 004 drives the first lead screw 312 to rotate, the above-mentioned moving pair can move along the guide rail. The movement of the moving pair drives the connecting rod to rotate, and the rotation of the connecting rod drives the bearing assembly 100 rotatably connected to the first posture adjustment assembly 300a to rotate. The initial state of the bearing assembly 100 is a horizontal position, and the pitch angle is 0. When the bearing assembly 100 starts to rotate from the initial position with the second connection end as the axis, the inclination angle of the bearing assembly 100 changes.

[0075] In some embodiments, Figure 3 As shown, the first posture adjustment assembly 300a also includes a first lead screw 312, a lead screw seat, a first nut 313 and a first rotary motor 004. At least two lead screw seats are fixedly installed at the bottom of the bearing assembly 100, including a first lead screw seat 310 and a second lead screw seat 311; the first lead screw seat 310 is rotatably connected to the first end 312a of the first lead screw 312, and the second lead screw seat 311 is rotatably connected to the second end 312b of the first lead screw 312, for axially fixing the first lead screw 312. The first lead screw 312 is arranged along the length direction of the slide rail, and the second end 312b of the first lead screw 312 is also fixedly connected to the output end of the first rotary motor 004. A lead screw nut pair is formed between the first nut 313 and the first lead screw 312, and the first nut 313 is fixedly connected to the sliding frame 307, so that when the first rotary motor 004 rotates and drives the first lead screw 312 to rotate, the first nut 313 and the sliding frame 307 are driven to move linearly along the slide rail.

[0076] During the movement, the first rotating motor 004 drives the first lead screw 312 fixedly connected to its output end to rotate, and a lead screw nut pair is formed between the first lead screw 312 and the first nut 313, so that the circumferential rotation of the first lead screw 312 is converted into the axial sliding of the first nut 313, thereby driving the sliding frame 307 fixedly connected to the first nut 313 to slide along the first lead screw 312. The second lead screw seat 311 is also used to fix the first rotating motor 004. During the working process, the relative positions of the first lead screw seat 310, the second lead screw seat 311, the second lead screw 327, the first rotating motor 004 and the second connecting end of the bearing assembly 100 remain unchanged. The relative positions of the first slider 303, the second slider 304, the third slider 305, the fourth slider 306, the sliding frame 307, the hinge, the first nut 313 and the second connecting end of the bearing assembly 100 increase or decrease.

[0077] The specific adjustment method of the first posture adjustment component 300a is as follows: the first rotating motor 004 drives the first lead screw 312 to rotate, so that the first slider 303, the second slider 304, the third slider 305, the fourth slider 306, the sliding frame 307, the hinge, and the first nut 313 can move as a whole, drive the connecting rod to rotate, and finally drive the bearing plate 102 to rotate with the first end 316a of the first connecting plate 316 as the axis. Figure 1 As shown, the initial position of the carrier plate 102 is set to a horizontal position, parallel to the horizontal plane, and the end close to the leg support assembly 200 is the front part of the carrier plate 102, and the other end is the rear part, so when the carrier plate 102 rotates from the initial position with the second connection end as the axis, it is a forward tilting action, and a forward tilting angle is generated relative to the horizontal plane. When the carrier plate 102 is in a horizontal position, the first rotating motor 004 can realize a forward tilting angle between the carrier plate 102 and the horizontal plane, thereby realizing the forward tilting function of the carrier plate 102.

[0078] In some embodiments, Figure 2As shown, the second posture adjustment component 300b includes a lower fixing member 320, a side fixing member 323, a lifting shaft 325, and a lifting block 324. The side fixing member 323 includes a fixing member body 323a and a side fixing plate 323b. The lower fixing member 320 and the side fixing member 323 are both fixedly arranged. The lower fixing member 320 is arranged on one side of the side fixing member 323. The intersection of the lower fixing member 320 and the side fixing member 323 is a sleeve structure, which is installed on the outer periphery of the middle part of the side fixing member 323 through the sleeve 320b structure, or the lower fixing member 320 is welded to the middle position of the side fixing member 323, so as to provide a stable support structure for the second posture adjustment component 300b. One end of the lifting shaft 325 is disposed in the side fixing member 323, and the other end extends from the side fixing member 323 and is connected to the lifting block 324. The lifting shaft 325 is slidably disposed coaxially with the side fixing member 323. The extension length of the lifting shaft 325 is adjusted along the length direction of the side fixing member 323 so that the adjustment direction of the second posture adjustment component 300b intersects with the bearing component 100. The first connecting plate 316 further includes a third end portion 316c and a first middle portion 316d. The third end portion 316c is located away from the first end portion 316a and the second end portion 316b. The first middle portion 316d is located in the middle of the main body structure of the first connecting plate 316.

[0079] One end of the lower fixing member 320 away from the side fixing member 323 is rotatably connected to the third end portion 316c of the first connecting plate 316, and the lifting block 324 is rotatably connected to the first middle portion 316d of the first connecting plate 316, so that when the lifting block 324 performs a lifting motion, it drives the first connecting plate 316 to rotate, and finally drives the bearing assembly 100 to rotate around the third end portion 316c of the first connecting plate 316 as the axis.

[0080] As a feasible method, Figure 2 As shown, the connecting plate is arranged in the shape of an irregular triangle, the first end 316a, the second end 316b, and the third end 316c are respectively arranged at the angle positions of the irregular triangle, the first middle portion 316d is arranged at the middle position of the irregular triangle, and a through hole structure for connection is arranged at each end and the middle position for installing the corresponding connecting parts.

[0081] When the second posture adjustment assembly 300b is in operation, the lifting shaft 325 slides up and down along the inner wall of the side fixing member 323, driving the lifting block 324 to move up and down, and the lifting block 324 drives the connecting plate to move through the first intermediate portion 316d of the rotational connection, thereby driving the bearing assembly 100 to rotate. The bearing assembly 100 is initially set horizontally. When the lifting block 324 rises, it drives the connecting plate to lift the second connecting end of the bearing assembly 100, thereby increasing its elevation angle; when the lifting block 324 descends, it drives the connecting plate to lower the second connecting end of the bearing assembly 100, thereby decreasing its elevation angle.

[0082] In some embodiments, Figure 4 As shown, the second posture adjustment assembly 300b also includes a second lead screw 327, a second nut 326, a transmission fixing plate 329, a second rotating motor 005, a first transmission wheel 331, a second transmission wheel 332, and a transmission member 333. The second lead screw 327 is coaxially arranged with the lifting shaft 325, and the first end of the second lead screw 327 is arranged in the lifting shaft 325; the second nut 326 and the second lead screw 327 form a lead screw nut pair, and the second nut 326 is fixedly connected to one end of the lifting shaft 325 located at the side fixing member 323, so that when the second nut 326 moves along the second lead screw 327, the lifting shaft 325 is driven to move. The transmission fixing plate 329 is arranged at the bottom of the side fixing member 323, the second end of the second lead screw 327 is connected to the transmission fixing plate 329 for rotation, and the second rotary motor 005 is installed on the same side as the second lead screw 327 on the transmission fixing plate 329, so as to prevent the second rotary motor 005 from contacting the ground and shorten the longitudinal length of the second posture adjustment assembly 300b. The end of the second lead screw 327 passing through the transmission fixing plate 329 is installed with a first transmission wheel 331, and the end of the second rotary motor 005 passing through the transmission fixing plate 329 is installed with a second transmission wheel 332, and the second transmission wheel 332 is connected with the second transmission wheel 332 through a rotating member, so that when the second rotary motor 005 rotates and drives the second lead screw 327 to rotate, the second nut 326 and the lifting shaft 325 are driven to move up and down along the side fixing member 323.

[0083] The second lead screw 327 is connected to the second rotating motor 005 through a transmission wheel to prevent the load-bearing component 100 from being too heavy and directly damaging the second rotating motor 005. During maintenance, the transmission wheel or the transmission member 333 can be directly replaced. In addition, an interlocking mechanism can be provided between the second lead screw 327 and the second motor to prevent the load-bearing component 100 from losing its lifting force and suddenly falling due to a sudden power failure, causing people to fall and get injured.

[0084] The rotation process of the above-mentioned second rotating motor 005 is specifically as follows: the second rotating motor 005 drives the second rotating wheel, which drives the first transmission wheel 331 and the second screw 327 to rotate through the transmission member 333; the rotation of the second screw 327 drives the second nut 326, the lifting shaft 325, and the lifting block 324 to rise and fall; the height of the lifting block 324 changes, driving the connecting plate to rise and fall; at the same time, the third end 316c of the connecting plate and the sliding rod connecting the two positions move along the sliding groove 320a of the lower fixing member 320.

[0085] Furthermore, a bearing 330 is provided at the connection position between the second lead screw 327 and the transmission connecting plate. The bearing 330 is clamped at the bottom position of the side fixing member 323 through a retaining spring to provide stable axial support for the second lead screw 327 .

[0086] When the second posture adjustment component 300b is in operation, the second rotating motor 005 drives the second transmission wheel 332 fixedly connected to its output end, and the second transmission wheel 332 drives the first transmission wheel 331 to rotate in the same direction through the transmission member 333. The first transmission wheel 331 then drives the second lead screw 327 fixedly connected to it. The lead screw and nut pair formed by the second lead screw 327 and the second nut 326 converts the circumferential rotation of the second lead screw 327 into the axial sliding of the second nut 326, thereby driving the lifting shaft 325 fixedly connected to the second nut 326 to slide along the side fixing member 323. The sliding of the lifting shaft 325 will drive the lifting block 324 at its end to move up and down, and through the rotational connection with the first intermediate portion 316d, drive the connecting plate to move, and finally drive the bearing assembly 100 transmission-connected to the first end 316a of the connecting plate to rotate.

[0087] During the movement of the second posture adjustment component 300b, the lifting block 324, the lifting shaft 325, and the second nut 326 form a lifting entity, and the vertical distance between the lifting entity and the third end 316c of the connecting plate changes. An increase in the vertical distance indicates that the lifting block 324 rises, and a decrease in the vertical distance indicates that the lifting block 324 falls.

[0088] In some embodiments, Figure 2As shown, the lower fixing member 320 also includes a slide groove 320a and a shock absorbing frame 321; the slide groove 320a is arranged at one end of the lower fixing member 320 close to the third end 316c, and there are two slide grooves 320a, the two slide grooves 320a extend along the length direction of the lower fixing member 320, and are symmetrically arranged on both sides of the lower fixing member 320; the third end 316c of the connecting plate is provided with a sliding rod, and the sliding rod can slide along the slide groove 320a to limit the sliding direction of the sliding rod. The shock absorbing frame 321 is arranged inside the slide groove 320a and protrudes inward relative to the end of the slide groove 320a. The shock absorbing frame 321 is connected to the lower fixing member 320 through a spring gasket 322, so that when the slide rod moves toward the end of the slide groove 320a, the slide rod can contact the shock absorbing frame 321 in advance, thereby absorbing and reducing the vibration and noise generated by metal friction. The shock absorbing frame 321 and the spring gasket 322 can also slow down the sliding process of the connecting plate, so that the movement process of the bearing assembly 100 remains stable and smooth.

[0089] As an implementable manner, the shock absorbing frame 321 and the lower fixing member 320 may also be connected via a hydraulic buffer device to prevent the slide bar from colliding with the slide groove 320a during movement, or to mitigate the collision effect.

[0090] The specific adjustment method of the second posture adjustment component 300b is as follows: the second rotating motor 005 drives the second transmission wheel 332 to rotate, and drives the first transmission wheel 331 and the second lead screw 327 to rotate through the transmission member 333. The rotation of the second lead screw 327 drives the second nut 326, the lifting shaft 325, and the lifting block 324 to rise and fall. The change in the height of the lifting block 324 drives the middle part of the connecting plate to rise and fall. At the same time, the third end 316c and the sliding rod connecting the two positions move along the sliding groove 320a of the lower fixing member 320. When the relative positions of other parts of the second posture adjustment component 300b remain fixed, the angle of the carrier plate 102 changes. The initial position of the carrier plate 102 is set to a horizontal position, parallel to the horizontal plane, such as Figure 1 As shown, one end of the support plate 102 away from the leg support assembly 200 is the rear part, and the other end is the front part, so when the support plate 102 rotates from the initial position with the first connection end as the axis, it is a backward tilting action, and a backward tilting angle is generated between the support plate 102 and the horizontal plane. When the second posture adjustment component 300b is in a horizontal position, the second rotary motor 005 can drive the support plate 102 to generate a backward tilting angle with the horizontal plane, thereby realizing the backward tilting function of the support plate 102.

[0091] In some embodiments, the lifting shaft 325 is configured as a spline shaft or a shaft part with a non-circular cross section. The longitudinal keyway structure provided on the outer surface of the spline shaft corresponds to the keyway on the inner wall of the side fixing member 323. The spline shaft and the side fixing member 323 cooperate to form a moving pair. Using the spline shaft as a moving member can eliminate the rotation of the moving pair during the movement process, offset the torque generated by the rotation of the lead screw during the sliding process, make the structure more reliable, and facilitate the stability of the overall structure of the second posture adjustment component 300b.

[0092] In some embodiments, the hinge, the connecting plate, and the connecting rod are each provided in pairs and are symmetrically arranged along the central axis of the ramp self-balancing device. Figure 2 As shown, the front hinge is the first hinge 308, and the other side hinge is the second hinge 309; the front connecting plate is the first connecting plate 316, and the other side is the second connecting plate 317, and the second connecting plate 317 includes a fifth end 317a; the front connecting rod is the first connecting rod 314, and the other side connecting rod is the second connecting rod 315; the two connecting plates are consistent and fixedly connected by the upper connecting member and the sliding rod, so that the first connecting plate 316, the second connecting plate 317, the upper connecting member, and the sliding rod form a whole, thereby increasing the stability of the overall structure. At the same time, the hinges and the connecting rods are symmetrically arranged, so that the overall structure is evenly stressed and the movements on both sides are consistent, thereby improving the adjustment efficiency of the posture adjustment mechanism.

[0093] The present invention also provides a multi-posture wheelchair, such as Figure 5 As shown, the multi-posture wheelchair comprises the ramp self-balancing device and at least one of the leg rest assembly 200, the backrest assembly I, the front wheel assembly II, the rear wheel assembly III, the wheelchair chassis IV, the wheelchair armrest assembly V, the backrest pad 006, and the seat pad 007. The multi-posture wheelchair can adjust the pitch angle of the bearing assembly 100 when the ramp angle changes, so that the bearing assembly 100 always remains basically unchanged relative to the horizontal plane, and can realize the front and rear angle change of the bearing assembly 100 and the standing posture of the wheelchair, thereby increasing the comfort and ease of use of the wheelchair when in use.

[0094] In some embodiments, the leg support assembly 200 includes a push rod 003, a leg support body 202 and a leg support connector 201, which are fixedly connected by bolts; the leg support body 202 is arranged at one end of the first section of the support component 100 close to the connecting plate, and the leg support body 202 and the support component 100 are rotatably connected via a rotating shaft 002; the leg support connector 201 is fixedly installed on the side of the leg support body 202, one end of the leg support connector 201 is fixedly connected to the leg support body 202, and the other end is rotatably connected to the push rod 003, and the push rod 003 is also rotatably connected to one end of the first end portion 316a of the support component 100 away from the connecting plate, so that when the push rod 003 is extended or shortened, the leg support connector 201 drives the leg support body 202 to rotate around the rotating shaft 002, thereby realizing the lifting or lowering of the leg support assembly 200.

[0095] Furthermore, the push rod 003 can be an electric push rod 003, which is extended to lift the leg support body 202 and keep a safe distance from the second rotary motor 005. When the wheelchair is in a horizontal position, the first rotary motor 004 and the electric push rod 003 are coordinated to achieve a forward tilt angle between the bearing assembly 100 and the horizontal plane, thereby realizing the forward tilt function of the multi-posture wheelchair.

[0096] The specific implementation operation of lifting or lowering the leg rest assembly 200 is as follows: when the electric push rod 003 is extended, the electric push rod 003 pushes the leg rest assembly 200 to rotate around the rotating shaft 002, thereby lifting the leg rest assembly 200; when the electric push rod 003 is shortened, the leg rest assembly 200 is lowered.

[0097] In some embodiments, Figure 6As shown, the multi-posture wheelchair is in an uphill state, the angle between the bearing assembly 100 and the horizontal plane changes, and the two are no longer parallel. The gyroscope in the multi-posture wheelchair control system detects that the wheelchair as a whole is on an uphill road, and the control system sends a motion signal to the first rotating motor 004. At this time, the first rotating motor 004 drives the first lead screw 312 to rotate, which can drive the first slider 303, the second slider 304, the third slider 305, the fourth slider 306, the sliding frame 307, the hinge, and the lead screw nut to move, drive the connecting rod to rotate, and finally drive the bearing assembly 100 with the first end 316a of the connecting plate as The axis rotates, thereby realizing the rotation and lifting of the wheelchair bearing component 100, so that the angle between the bearing component 100 and the ramp changes, and the inclination angle increases. When the inclination angle is consistent with the angle of the ramp, the gyroscope in the control system detects that the self-balancing adjustment of the ramp is completed, and then sends a command to the first rotating motor 004 to stop rotating, so that the bearing component 100 can be parallel to the horizontal plane; at the same time, due to the forward tilt of the bearing component 100, the leg rest assembly 200 may come into contact with the second rotating motor 005, causing damage to components, so the push rod 003 is extended at the same time to lift the leg rest body 202 and maintain a safe distance from the second rotating motor 005.

[0098] In some embodiments, Figure 7 As shown in the figure, when the multi-posture wheelchair is in a downhill state, the angle between the multi-posture wheelchair bearing assembly 100 and the horizontal plane changes, and the two are no longer parallel. The gyroscope in the wheelchair control system detects that the wheelchair as a whole is on a downhill road, and the control system sends a motion signal to the second rotary motor 005. At this time, the second rotary motor 005 drives the second transmission wheel 332 to rotate, and drives the first transmission wheel 331 and the second lead screw 327 to rotate through the rotating member. The rotation of the second lead screw 327 drives the second nut 326, the lifting shaft 325, and the lifting block 324 to move up and down, and the height of the lifting block 324 changes. The middle part of the connecting plate is driven to rise and fall, and at the same time, the third end 316c of the connecting plate and the sliding rod connecting the two ends move along the sliding groove 320a of the lower fixing member 320. When the relative positions of other parts of the second posture adjustment component 300b remain fixed, the supporting component 100 is driven to rotate and rise, so that the angle between the supporting component 100 and the ramp changes and the inclination angle increases. When the inclination angle is consistent with the angle of the ramp, the gyroscope in the control system detects that the self-balancing adjustment of the ramp is completed, and then sends an instruction to the second rotating motor 005 to stop rotating, and the supporting component 100 can be parallel to the horizontal plane.

[0099] In some embodiments, Figure 8As shown, when the multi-posture wheelchair is in the lifting state, the ramp self-balancing device can realize the lifting control of the entire load-bearing assembly 100 by controlling the motion relationship between the first rotating motor 004 and the second rotating motor 005. Starting from position α, the first rotating motor 004 can realize the forward tilt of the load-bearing assembly 100, and the second rotating motor 005 can realize the backward tilt of the load-bearing assembly 100. The first posture adjustment assembly 300a and the second posture adjustment assembly 300b work at the same time, and the first rotating motor 004 and the second rotating motor 005 are driven by a specific driving method, so that the load-bearing assembly 100 can be lifted and lowered smoothly to position β, so that the load-bearing assembly 100 can realize the lifting function at any position within the allowable range of the lifting structure of the self-balancing device.

[0100] In some embodiments, Fig. 9 As shown, the first posture adjustment component 300a mechanism controls the increase of the forward tilt angle of the bearing component 100, and at the same time the push rod 003 extends to lift the leg rest body 202, and the angle between the bearing component 100 and the leg rest body 202 gradually decreases, and at the same time cooperates with the wheelchair back frame and armrest assembly to form a standing posture of the wheelchair.

[0101] According to the ramp self-balancing device and the multi-posture wheelchair in the embodiments of the present invention, the technical effects that can be achieved include at least:

[0102] (1) The present invention improves the adjustment method of the ramp self-balancing device, and enhances the safety and comfort of the ramp self-balancing device and the multi-posture wheelchair by providing the first posture adjustment component 300a and the second posture adjustment component 300b.

[0103] (2) The first posture adjustment component 300a and the second posture adjustment component 300b of the present invention cooperate with each other, increasing the adjustable range of the ramp self-balancing device and expanding the working scene of the multi-posture wheelchair.

[0104] (3) The present invention uses a spline shaft as the lifting shaft 325 of the adjustment mechanism, which can eliminate the rotational torque during the movement of the mechanism and improve the stability of the ramp self-balancing device.

[0105] (4) The present invention can reduce and absorb the vibration and noise during the operation of the adjustment device through the design of the shock absorbing frame 321 and the sliding rod, thereby increasing the stability and comfort of the ramp self-balancing device.

[0106] (5) The connecting plate structure of the present invention has the functions of transmission and support through a special shape design, which simplifies the structure of the ramp self-balancing device while ensuring that the functions are not affected.

[0107] (6) The multi-posture wheelchair of the present invention adopts a modular design and can be adapted to different usage scenarios by installing different functional assemblies.

[0108] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0109] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ramp self-balancing device, characterized in that: It comprises a bearing assembly (100) and a posture adjustment assembly (300), wherein the posture adjustment assembly (300) comprises a first posture adjustment assembly (300a) and a second posture adjustment assembly (300b); The first posture adjustment component (300a) and the second posture adjustment component (300b) are installed at the bottom of the bearing component (100), and a slide rail is provided at a position close to the first connection end of the bearing component (100); The first posture adjustment component (300a) is slidably connected to the first connection end of the bearing component (100), and is rotationally connected to the second connection end of the bearing component (100), and the adjustment direction of the first posture adjustment component (300a) is parallel to the length direction of the bearing component (100), so that when the first posture adjustment component (300a) is in a working state, the bearing component (100) can rotate around the second connection end as an axis; The first posture adjustment component (300a) comprises a slider, a sliding frame (307), a hinge, a connecting plate, and a connecting rod. The slide rail of the bearing component (100) comprises at least a first slide rail (301) and a second slide rail (302). The first slide rail (301) and the second slide rail (302) are fixedly mounted on the bottom of the bearing component (100) and are parallel to each other. The slider comprises at least a first slider (303), a second slider (304), a third slider (305), and a fourth slider (306). 03) and the second slider (304) are arranged on the first slide rail (301), the third slider (305) and the fourth slider (306) are arranged on the second slide rail (302), and each of the sliders is slidably connected to the slide rail, and each of the sliders is installed on the slide frame (307), so that when the slider slides along the slide rail, the slide frame (307) is driven to move linearly along the slide rail at the same time, and the hinge is installed on the slide frame (307) and is rotatably connected to the first end of the connecting rod; The second posture adjustment component (300b) and the first connection end of the bearing component (100) are supported by the first posture adjustment component (300a), the second posture adjustment component (300b) is rotatably connected to the second connection end of the bearing component (100), and the adjustment direction of the second posture adjustment component (300b) intersects with the length direction of the bearing component (100), so that when the second posture adjustment component (300b) is in a working state, the bearing component (100) can rotate around the first connection end as an axis; When the first posture adjustment component (300a) and the second posture adjustment component (300b) work in coordination, the bearing component (100) can be raised and lowered in a vertical direction; the posture adjustment component (300) is used to adjust the pitch angle and height of the bearing component (100).

2. The ramp self-balancing device according to claim 1, characterized in that: The connecting plate at least includes a first end (316a) and a second end (316b); the second end of the connecting rod is rotatably connected to the second end (316b) of the connecting plate; the second connecting end of the supporting component (100) is rotatably connected to the first end (316a) of the connecting plate, so that when the sliding frame (307) drives the first end of the connecting rod to slide on the sliding rail, the connecting rod rotates with the second end as the center, thereby driving the supporting component (100) to rotate with the first end (316a) of the connecting plate as the axis.

3. The ramp self-balancing device according to claim 2, characterized in that: The first posture adjustment component (300a) further includes a first lead screw (312), a lead screw seat, a first nut (313) and a first rotating motor (004); At least two screw seats are fixedly mounted at the bottom of the bearing assembly (100), including a first screw seat (310) and a second screw seat (311); the first screw seat (310) is rotatably connected to the first end (312a) of the first screw (312), and the second screw seat (311) is rotatably connected to the second end (312b) of the first screw (312), and is used to axially fix the first screw (312); The first lead screw (312) is arranged along the length direction of the slide rail, and the second end (312b) of the first lead screw (312) is also fixedly connected to the output end of the first rotating motor (004). A lead screw nut pair is formed between the first nut (313) and the first lead screw (312), and the first nut (313) is fixedly connected to the sliding frame (307), so that when the first rotating motor (004) rotates and drives the first lead screw (312) to rotate, the first nut (313) and the sliding frame (307) are driven to move linearly along the slide rail.

4. The ramp self-balancing device according to claim 2, characterized in that: The second posture adjustment component (300b) comprises a lower fixing member (320), a side fixing member (323), a lifting shaft (325), and a lifting block (324); The lower fixing member (320) and the side fixing member (323) are both fixedly arranged, the lower fixing member (320) is arranged on one side of the side fixing member (323), and the intersection of the lower fixing member (320) and the side fixing member (323) is a sleeve (320b) structure, which is installed on the outer periphery of the middle part of the side fixing member (323) through the sleeve (320b) structure; One end of the lifting shaft (325) is arranged in the side fixing member (323), and the other end extends out from the side fixing member (323) and is connected to the lifting block (324), and the lifting shaft (325) is slidably arranged coaxially with the side fixing member (323); The connecting plate further comprises a third end portion (316c) and a first middle portion (316d), wherein the third end portion (316c) is located away from the first end portion (316a) and the second end portion (316b), and the first middle portion (316d) is located in the middle of the connecting plate body structure; One end of the lower fixing member (320) away from the side fixing member (323) is rotatably connected to the third end portion (316c) of the connecting plate, and the lifting block (324) is rotatably connected to the first middle portion (316d) of the connecting plate, so that when the lifting block (324) is in a lifting state, it drives the connecting plate to rotate, and finally drives the bearing assembly (100) to rotate around the third end portion (316c) of the connecting plate as an axis.

5. The ramp self-balancing device according to claim 4, characterized in that: The second posture adjustment component (300b) further comprises a second lead screw (327), a second nut (326), a transmission fixing plate (329), a second rotating motor (005), a first transmission wheel (331), a second transmission wheel (332), and a transmission member (333); The second lead screw (327) is coaxially arranged with the lifting shaft (325), and the first end (312a) of the second lead screw (327) is arranged inside the lifting shaft (325); The second nut (326) and the second screw (327) form a screw-nut pair, and the second nut (326) is fixedly connected to one end of the lifting shaft (325) located on the side fixing member (323); The transmission fixing plate (329) is arranged at the bottom of the side fixing member (323); the second end of the second lead screw (327) is rotatably connected to the transmission fixing plate (329); and the second rotating motor (005) and the second lead screw (327) are installed on the same side of the transmission fixing plate (329); The end of the second lead screw (327) passing through the transmission fixing plate (329) is installed with a first transmission wheel (331), and the end of the second rotating motor (005) passing through the transmission fixing plate (329) is installed with a second transmission wheel (332), and the second transmission wheel (332) is connected to the second transmission wheel (332) through a rotating member, so that when the second rotating motor (005) rotates and drives the second lead screw (327) to rotate, it drives the second nut (326) and the lifting shaft (325) to perform lifting and lowering movements along the side fixing member (323).

6. The ramp self-balancing device according to claim 4, characterized in that: The lower fixing member (320) further includes a slide groove (320a) and a shock absorbing frame (321); The slide groove (320a) is arranged at one end of the lower fixing member (320) close to the third end portion (316c), and two slide grooves (320a) are arranged, and the two slide grooves (320a) extend along the length direction of the lower fixing member (320) and are symmetrically arranged on both sides of the lower fixing member (320); the third end portion (316c) of the connecting plate is provided with a slide rod, and the slide rod can slide along the slide groove (320a); The shock absorbing frame (321) is arranged inside the slide groove (320a) and protrudes inward relative to the end of the slide groove (320a). The shock absorbing frame (321) is connected to the lower fixing member (320) through a spring gasket (322), so that when the slide rod moves toward the end of the slide groove (320a), the slide rod can contact the shock absorbing frame (321) in advance, thereby absorbing and reducing the vibration and noise generated by metal friction.

7. The ramp self-balancing device according to claim 4, characterized in that: The lifting shaft (325) is configured as a spline shaft or a shaft-like part with a non-circular cross-section.

8. The ramp self-balancing device according to claim 2, characterized in that: The hinge, the connecting plate and the connecting rod are all provided in pairs and are symmetrically arranged along the central axis of the ramp self-balancing device.

9. A multi-posture wheelchair, characterized in that: The invention comprises the ramp self-balancing device as claimed in any one of claims 1 to 8 and at least one of a leg rest assembly (200), a backrest assembly (I), a front wheel assembly (II), a rear wheel assembly (III), a wheelchair chassis (IV), a wheelchair armrest assembly (V), a backrest cushion (006) and a seat cushion (007).

10. The multi-posture wheelchair according to claim 9, characterized in that: The leg support assembly (200) comprises a push rod (003), a leg support body (202) and a leg support connecting piece (201); The leg support body (202) is arranged at one end of the first section of the bearing assembly (100) close to the connecting plate, and the leg support body (202) and the bearing assembly (100) are rotatably connected via a rotating shaft (002); The leg support connecting member (201) is fixedly mounted on the side of the leg support body (202), one end of the leg support connecting member (201) is fixedly connected to the leg support body (202), and the other end is rotatably connected to the push rod (003), and the push rod (003) is also rotatably connected to one end of the support component (100) away from the first end (316a) of the connecting plate, so that when the push rod (003) is extended or shortened, the leg support connecting member (201) drives the leg support body (202) to rotate around the rotating shaft (002), thereby realizing the lifting or lowering of the leg support assembly (200).

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