Wheelchair capable of being automatically leveled

Abstract

The wheelchair mainly comprises a wheelchair body, a left rear wheel, a left swing arm, a right swing arm and a right rear wheel, a seat, a backrest and two armrests are arranged on the wheelchair body, two front wheels are installed on the lower sides of the front ends of the two armrests through two front wheel rods and form a moving pair, an inclination angle sensor is arranged on the rear side of the wheelchair body, and the inclination angle sensor is connected with the wheelchair body. The left swing arm and the right swing arm are rotationally installed on the two sides of the rear end of the wheelchair body respectively, the left rear wheel and the right rear wheel are rotationally installed at the front ends of the left swing arm and the right swing arm respectively, the rear swing arm rotary knob is installed on the upper side of the front end of the left armrest, the operating rod is installed on the upper side of the front end of the right armrest, and the two pedals are each internally provided with four massage units. When the wheelchair passes through road conditions with unequal heights such as a unilateral bridge and a slope, the two swing arms and the two electric push rods act in a matched mode, the seat can be kept horizontal all the time, a user has good riding experience, meanwhile, the wheelchair can be prevented from overturning, and the safety of the user is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of wheelchair manufacturing, and in particular to a wheelchair capable of automatic leveling. Background Art

[0002] The function of a wheelchair is to provide a means of transportation for people with lower limb disabilities, the elderly and the weak, who are unable to walk on their own due to physical reasons, and a wheelchair can help them move easily to meet their daily life and work needs. Wheelchairs can also help people with limited mobility better participate in social activities, which not only helps to improve their self-confidence and social skills, but also enhances their connection and sense of integration with society.

[0003] With the improvement of people's living standards and the development of science and technology, today's wheelchair technology has become relatively mature and can solve the basic travel problems of the disabled and the elderly. However, how to travel more comfortably and safely is a problem that needs to be solved urgently. For example, on complex road conditions such as rugged paths, gentle slopes and steep slopes, providing passengers with a comfortable and safe riding experience is the main direction of current wheelchair technology breakthroughs. Therefore, designing a wheelchair that can automatically level is of obvious significance. Summary of the invention

[0004] In order to solve the deficiencies of the prior art, the purpose of the present invention is to provide an automatically leveling wheelchair, which can not only adjust the wheelbase according to needs, but also rise and fall appropriately, and can also automatically level the seat, so that the passengers have a more comfortable and safer riding experience.

[0005] The technical solution adopted by the present invention is: an automatically leveling wheelchair, mainly comprising a wheelchair body, a left front wheel rod, a left pedal, a left swing arm motor, a left rear wheel, a left swing arm, a right swing arm, a right worm, a right swing arm motor, a right wheel motor, a right rear wheel, an inclination sensor, a left worm, a left wheel motor, a right pedal, a massage ball, a top cover, a spring, and a bottom cover, characterized in that: a seat is provided on the wheelchair body, a backrest is provided at the rear end of the seat, a left armrest and a right armrest are provided on the left and right sides of the wheelchair body, a left cylinder rod and a right cylinder rod are respectively provided on the lower sides of the front ends of the two armrests, a left front wheel is installed in the left cylinder rod through the left front wheel rod to form a moving pair, and a right front wheel The right front wheel rod is installed in the right cylinder rod to form a moving pair, and the rear end of the wheelchair body is provided with a left extension rod and a right extension rod. The rear ends of the two extension rods are respectively provided with a left worm gear and a right worm gear, and an inclination sensor is provided on the rear side of the wheelchair body; the left swing arm is coaxially connected to the left worm gear, and the left rear wheel is rotationally installed on the left side of the front end of the left swing arm. The left wheel motor installed on the right side of the front end of the left swing arm can drive the rotation of the left rear wheel. The left worm is installed on the right side of the left swing arm and meshes with the left worm gear. The left swing arm motor coaxially installed with the left worm gear can drive the latter to rotate; the right swing arm is coaxially connected to the right worm gear, and the right rear wheel is rotationally installed on On the right side of the front end of the right swing arm, the right wheel motor installed on the left side of the front end of the right swing arm can drive the rotation of the right rear wheel, the right worm is installed on the left side of the right swing arm and meshes with the right worm wheel, and the right swing arm motor installed coaxially with the right worm can drive the latter to rotate; the rear swing arm knob is installed on the upper side of the front end of the left armrest, and the rear swing arm knob can be rotated to control the rotation of the left and right swing arms; the operating lever is installed on the upper side of the front end of the right armrest, and the operating lever can be used to control the travel of the wheelchair; the left and right footrests are arranged on the lower side of the front end of the wheelchair body; four massage chambers are arranged inside the two footrests, and a massage chamber is installed in each massage chamber The massage unit comprises a massage ball, a top cover, a spring and a bottom cover. The massage ball in the massage unit is installed at the top end of the corresponding massage chamber. Three rollers arranged at the upper end of the top cover are supported on the lower side of the massage ball. The bottom cover is installed at the lower end of the massage chamber to form a threaded pair. The spring is installed between the top cover and the bottom cover. The left pedal is rotatably connected with the left foot pedal. After the left pedal is flipped to the left, it can cover the upper side of the left foot pedal and fix the left pedal according to the principle of opposite magnets attracting each other. The right pedal is rotatably connected with the right foot pedal. After the right pedal is flipped to the right, it can cover the upper side of the right foot pedal and fix the right pedal according to the principle of opposite magnets attracting each other.

[0006] Preferably, the battery pack can provide electrical energy for the electrical equipment of the wheelchair, and an intelligent control system is integrated inside the control center.

[0007] Preferably, the inclination sensor can be used to monitor the inclination angle of the wheelchair in real time and transmit the data to the control center.

[0008] Preferably, a left horizontal support platform is provided on the upper side of the front end of the left swing arm. When the left rear wheel is located in the standard position with the shortest front wheelbase, the left horizontal support platform can support the lower side of the left extension rod, thereby providing limitation and support for the wheelchair; a left rear support platform is provided on the rear end of the left swing arm. When the wheelbase between the front and rear wheels of the wheelchair is the largest, the left swing arm rotates backward to the extreme position, and the left rear support platform can support the upper side of the left extension rod, thereby providing limitation and support for the wheelchair.

[0009] Preferably, among the four massage chambers of the right foot pedal, two are located at both sides of the front end of the right foot pedal, and the other two massage chambers are respectively located in the middle and rear end of the right foot pedal.

[0010] Preferably, the closing structure at the upper end of the massage chamber allows the massage ball to protrude upwards from the upper side of the right footrest, but cannot be detached from the massage chamber.

[0011] Preferably, the top cover is a cylindrical structure with an opening downward, and three rollers arranged horizontally on the upper end thereof are evenly distributed at equal angles in the circumferential direction.

[0012] Preferably, a hexagonal hole is provided at the lower end of the bottom cover, so that the bottom cover can be rotated conveniently using a hexagonal wrench. Adjusting the position of the bottom cover can adjust the elastic force of the spring, thereby adjusting the massage support strength of the massage ball on the user's foot.

[0013] Preferably, an anti-slip stripe is provided on the upper side of the left pedal, a left pedal groove is provided on the left side thereof, and the right pedal and the left pedal form a left-right symmetrical structure.

[0014] The beneficial effects of the present invention are as follows: 1. The left swing arm and the right swing arm can be rotated and positioned forward and backward, so that the front and rear wheelbases can be adjusted. When the wheelbase is short, the volume of the wheelchair can be reduced, thereby improving the passability of the wheelchair in a narrow environment and reducing the space occupied when parked; when the wheelbase is large, the stability of the wheelchair can be effectively improved and the safety factor of the wheelchair can be increased. 2. The sitting height of the wheelchair can be adjusted by adjusting the rotation position of the left swing arm and the right swing arm and the extension and contraction of the two electric push rods; after lowering the sitting height, the overall center can be lowered, which is beneficial to the stability of the wheelchair during driving; after raising the sitting height, the user's confidence in life can be effectively improved, especially when talking with others, being at the same height as others can significantly improve the user's confidence; in addition, after the sitting height is raised, it is also convenient for the user to take and place items at a higher position. 3. When the wheelchair passes through a road condition with uneven heights on the left and right sides, the two swing arms and the two electric push rods work together to always keep the seat level. While the user has a better riding experience, it can also prevent the wheelchair from tipping over sideways to ensure the safety of the user. ④When the wheelchair goes uphill or downhill, the two swing arms and two electric push rods work together to keep the seat level at all times, which not only provides the user with a better riding experience, but also prevents the wheelchair from tipping forward or backward, ensuring the user's safety. ⑤Both footrests have two usage modes, namely pedal support mode and massage mode; in pedal support mode, the left and right pedals can provide stable support for the user's feet; in massage mode, the massage units in the left and right footrests can massage the acupuncture points on the soles of the user's feet, effectively promoting blood circulation and relieving mental stress. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention when it is in a standard state with the shortest wheelbase.

[0016] Figure 2 It is a schematic diagram of the overall structure of the present invention when the seat is in the highest state.

[0017] Figure 3 It is a schematic diagram of the overall structure of the present invention when it is in the longest wheelbase state.

[0018] Figure 4 It is a partially enlarged schematic diagram of the positions of two pedals when the present invention is in the pedal support mode.

[0019] Figure 5 It is a partial enlarged schematic diagram of the positions of the two pedals when the present invention is in the massage mode.

[0020] Figure 6 It is a schematic cross-sectional structure diagram of the right footrest position of the present invention.

[0021] Figure 7 It is a schematic diagram of the posture of the present invention when passing through a single-side bridge obstacle.

[0022] Figure 8 It is a schematic diagram of the posture of the present invention when going uphill.

[0023] Figure numbers: 1 wheelchair body, 101 left armrest, 102 right armrest, 103 left cylinder rod, 104 right cylinder rod, 105 rear swing arm knob, 106 operating lever, 107 left foot pedal, 108 left extension rod, 109 left worm gear, 1010 right extension rod, 1011 right worm gear, 1012 right foot pedal, 1013 No. 1 magnet, 1014 No. 4 magnet, 1015 massage chamber, 2 left electric push rod, 3 left front wheel rod, 4 left pedal, 401 left pedal groove, 402 No. 2 magnet, 5 left swing arm motor, 6 left rear wheel, 7 left swing arm, 701 left worm seat, 702 left horizontal support platform, 703 left rear support platform, 8 right swing arm, 801 right worm seat, 802 right horizontal support platform, 803 right rear support platform, 9 right worm, 10 right swing arm motor, 11 right wheel motor, 12 right rear wheel, 13 tilt sensor, 14 left worm, 15 left wheel motor, 16 right pedal, 1601 right pedal groove, 1602 No. 3 magnet, 17 right front wheel rod, 18 massage ball, 19 top cover, 1901 roller, 20 spring, 21 bottom cover. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0025] like Figures 1 to 8As shown, an automatically leveling wheelchair mainly includes a wheelchair body 1, a left electric push rod 2, a left front wheel rod 3, a left pedal 4, a left swing arm motor 5, a left rear wheel 6, a left swing arm 7, a right swing arm 8, a right worm 9, a right swing arm motor 10, a right wheel motor 11, a right rear wheel 12, an inclination sensor 13, a left worm 14, a left wheel motor 15, a right pedal 16, a right front wheel rod 17, a massage ball 18, a top cover 19, a spring 20, and a bottom cover 21. The wheelchair body 1 is characterized in that a seat for a user to sit on is arranged on the wheelchair body 1, a battery pack and a control center are arranged on the lower side of the seat, the battery pack can provide power for the electrical equipment of the wheelchair, and an intelligent control system is integrated inside the control center. A control system; a backrest is arranged at the rear end of the seat, and the backrest has a certain angle with the vertical plane and is tilted backward, so that the user's back can lean against the backrest, thereby improving the user's riding comfort. A left armrest 101 is fixedly arranged on the left side of the wheelchair body 1, and a leather sponge structure is laid on the upper side of the left armrest 101, which can provide a more comfortable placement experience for the user's left arm. A left cylinder rod 103 is vertically arranged on the lower side of the front end of the left armrest 101, and a hexagonal cavity with a downward opening is arranged inside the left cylinder rod 103; a right armrest 102 is fixedly arranged on the right side of the wheelchair body 1, and a leather sponge structure is laid on the upper side of the right armrest 102, which can provide a more comfortable placement experience for the user's right arm. The right armrest 102 is vertically provided with a right cylinder rod 104 at the lower front end side, and a hexagonal cavity opening downward is provided inside the right cylinder rod 104; the left front wheel rod 3 is a hexagonal side rod structure, the lower end of the left front wheel rod 3 is rotatably connected to the upper end of the left front wheel, the left front wheel is a universal wheel structure, the upper end of the left front wheel rod 3 is installed inside the left cylinder rod 103 and forms a moving pair, the left electric push rod 2 is installed at the upper end of the left cylinder rod 103, and the left electric push rod 2 can control the movement and positioning of the left front wheel rod 3 in the left cylinder rod 103; the right front wheel rod 17 is a hexagonal side rod structure, the lower end of the right front wheel rod 17 is rotatably connected to the upper end of the right front wheel, and the right front wheel is a universal wheel structure. The upper end of the right front wheel rod 17 is installed inside the right cylinder rod 104 and constitutes a moving pair. The right electric push rod is installed at the upper end inside the right cylinder rod 104. The right electric push rod can control the movement and positioning of the right front wheel rod 17 in the right cylinder rod 104. A left extension rod 108 is arranged at the rear end of the left side of the wheelchair body 1, and a left worm gear 109 is arranged at the rear end of the left extension rod 108. A right extension rod 1010 is arranged at the rear end of the right side of the wheelchair body 1, and a right worm gear 1011 is arranged at the rear end of the right extension rod 1010. An inclination sensor 13 is horizontally arranged at the middle position of the rear side of the wheelchair body 1. The inclination sensor 13 can be used to monitor the tilt angle of the wheelchair in real time and transmit the data to the control center.

[0026] like Figure 1 , Figure 2 , Figure 3As shown, the left swing arm 7 is coaxially rotatably connected with the left worm gear 109, the left rear wheel 6 is installed on the left side of the front end of the left swing arm 7 through a turntable bearing, the left wheel motor 15 is fixedly installed on the right side of the front end of the left swing arm 7, and the output shaft of the left wheel motor 15 is coaxially and tightly connected with the left rear wheel 6, so that the left wheel motor 15 can drive the rotation of the left rear wheel 6; a left worm seat 701 is provided on the right side of the left swing arm 7, and the left worm 14 is rotatably installed in the left worm seat 701, and the left worm 14 is meshed with the left worm wheel 109 to form a worm gear transmission structure, and the left swing arm motor 5 is fixedly installed on the outer side of the left worm seat 701, and its output shaft is coaxially and tightly connected with the left worm 14 The left swing arm motor 5 is connected so that the left swing arm 7 can be driven to swing through the worm gear transmission structure, that is, to adjust the position of the left rear wheel 6 and the height of the wheelchair; a left horizontal support platform 702 is provided on the upper side of the front end of the left swing arm 7, and when the left rear wheel 6 is located in the standard position with the shortest front wheelbase, the left horizontal support platform 702 can support the lower side of the left extension rod 108, thereby providing a limit and support for the wheelchair; a left rear support platform 703 is provided on the rear end of the left swing arm 7, and when the wheelbase of the front and rear wheels of the wheelchair is the largest, the left swing arm 7 rotates backward to the extreme position, and the left rear support platform 703 can support the upper side of the left extension rod 108, thereby providing a limit and support for the wheelchair; The right swing arm 8 is coaxially rotatably connected with the right worm wheel 1011, and the right rear wheel 12 is installed on the right side of the front end of the right swing arm 8 through a turntable bearing. The right wheel motor 11 is fixedly installed on the left side of the front end of the right swing arm 8, and the output shaft of the right wheel motor 11 is coaxially and tightly connected with the right rear wheel 12, so that the right wheel motor 11 can drive the rotation of the right rear wheel 12; a right worm seat 801 is provided on the left side of the right swing arm 8, and the right worm 9 is rotatably installed in the right worm seat 801, and the right worm 9 is meshed with the right worm wheel 1011 to form a worm gear transmission structure, and the right swing arm motor 10 is fixedly installed on the outer side of the right worm seat 801, and its output shaft is coaxially and tightly connected with the right worm 9. Thereby, the right swing arm motor 10 can drive the swing of the right swing arm 8 through the worm gear transmission structure, that is, to adjust the position of the right rear wheel 12 and the height of the wheelchair; a right horizontal support platform 802 is arranged on the upper side of the front end of the right swing arm 8, and when the right rear wheel 12 is located in the standard position with the shortest front wheelbase, the right horizontal support platform 802 can support to the lower side of the right extension rod 1010, thereby providing limitation and support for the wheelchair; a right rear support platform 803 is arranged on the rear end of the right swing arm 8, and when the wheelbase of the front and rear wheels of the wheelchair is the largest, the right swing arm 8 rotates backward to the extreme position, and the right rear support platform 803 can support to the upper side of the right extension rod 1010, thereby providing limitation and support for the wheelchair.

[0027] like Figure 2 , Figure 3As shown, the rear swing arm knob 105 is installed on the upper side of the front end of the left armrest 101, and the rear swing arm knob 105 can be rotated to control the rotation of the left swing arm 7 and the right swing arm 8; when the rear swing arm knob 105 is rotated backward, the left swing arm motor 5 and the right swing arm motor 10 rotate at the same time, so that the left swing arm 7 and the right swing arm 8 swing backward at the same time, and the height of the wheelchair can be adjusted while increasing the wheelbase of the front and rear wheels. At the same time, the left electric push rod 2 and the right electric push rod are extended accordingly at the same time, so that the seat is always in a horizontal state. After the wheelbase between the front and rear wheels is increased, the stability of the wheelchair can be effectively improved, and the safety factor of the wheelchair can be increased; when the rear swing arm knob 105 is rotated forward, the left swing arm motor 5 and the right swing arm motor 10 rotate in the opposite direction at the same time, so that the left swing arm 7 and the right swing arm 8 swing forward at the same time, thereby reducing the wheelbase of the front and rear wheels, improving the passability of the wheelchair in a narrow environment, and reducing the occupied space when parked.

[0028] like Figure 2 , Figure 3 As shown, the operating rod 106 is installed on the upper side of the front end of the right handrail 102. The operating rod 106 can be used to control the travel of the wheelchair. When the operating rod 106 is pushed forward, the left wheel motor 15 and the right wheel motor 11 respectively drive the left rear wheel 6 and the right rear wheel 12 to rotate forward at the same speed, so that the wheelchair can move forward straight, and the speed of moving forward straight is positively correlated with the angle at which the operating rod 106 is pushed forward; when the operating rod 106 is pulled backward, the left wheel motor 15 and the right wheel motor 11 respectively drive the left rear wheel 6 and the right rear wheel 12 to rotate backward at the same speed, so that the wheelchair can move backward straight, and the speed of moving backward straight is positively correlated with the angle at which the operating rod 106 is pulled backward; when the operating rod 106 is pulled left, the speed at which the right rear wheel 12 rotates forward is greater than the speed of the left rear wheel 6, and the wheelchair can turn left through the differential principle; when the operating rod 106 is pulled right, the speed at which the left rear wheel 6 rotates forward is greater than the speed of the right rear wheel 12, and the wheelchair can turn right through the differential principle.

[0029] like Figure 5 , Figure 6As shown, a left footrest 107 and a right footrest 1012 are arranged at the lower front end of the wheelchair body 1; a No. 4 magnet 1014 is arranged at the upper right end of the right footrest 1012, and four massage chambers 1015 with the same structure are arranged vertically inside the right footrest 1012, two of which are located at both sides of the front end of the right footrest 1012, and the other two are located in the middle and rear end of the right footrest 1012, respectively. The interior of each massage chamber 1015 is a cylindrical cavity structure, the upper end of which is provided with a closing structure, and the lower end thereof is provided with an internal thread; each massage unit comprises a massage ball 18, a top cover 19, and a spring 2 0 and a bottom cover 21, each massage chamber 1015 is equipped with a massage unit; the massage unit in the massage chamber 1015 on the right side of the front end of the right footrest 1012 is used as an example, the massage ball 18 in the massage unit is installed at the top of the massage chamber 1015, and the closing structure at the upper end of the massage chamber 1015 allows the massage ball 18 to protrude upward from the upper side of the right footrest 1012, but cannot be separated from the massage chamber 1015; the top cover 19 is a cylindrical structure with an opening downward, and three freely rotatable rollers 1901 are horizontally arranged on its upper end, and the three rollers 1901 are evenly distributed at equal angles in the circumferential direction. The top cover 19 is installed inside the massage chamber 1015 and can be moved upward. The top cover 19 moves downward, and the three rollers 1901 on the upper end of the top cover 19 contact the massage ball 18 on its upper end and provide support for the latter; the bottom cover 21 is an end cover structure with an opening upward, and an external thread is arranged on the outer side of the bottom cover 21, and a hexagonal hole is arranged on the lower end of the bottom cover 21, so that the bottom cover 21 can be rotated conveniently with a hexagonal wrench, and the bottom cover 21 is installed at the lower end of the massage chamber 1015 and forms a thread pair; the spring 20 is installed between the top cover 19 and the bottom cover 21, and under the elastic force of the spring 20, the top cover 19 moves upward and presses the massage ball 18 to the uppermost end of the massage chamber 1015, and the elastic force of the spring 20 can be adjusted by adjusting the position of the bottom cover 21, so as to Adjust the massage ball 18's massage support strength for the user's foot; the installation method of the corresponding massage units in the other three massage chambers 1015 in the right footrest 1012 is the same as above; the two massage units at the front end of the right footrest 1012 can massage the patient's right sole, the middle massage unit can massage the patient's right center, and the rear massage unit can massage the patient's right root; the left footrest 107 and the right footrest 1012 are in a left-right symmetrical structure, a magnet No. 1013 is provided at the upper left end of the left footrest 107, and four massage units are also installed in the four massage chambers 1015 inside the left footrest 107.

[0030] like Figure 4 , Figure 5As shown, the upper side of the left pedal 4 is provided with anti-slip stripes, and the right side thereof is rotatably connected to the right side of the left footrest 107. The left pedal groove 401 is provided on the left side of the left pedal 4, and the left pedal groove 401 is convenient for the user to flip the left pedal 4. A second magnet 402 is provided at the left end of the lower side of the left pedal 4, and four arc-shaped circular pits are provided on the lower side of the left pedal 4. The positions of the four arc-shaped circular pits correspond to the positions of the four massage chambers inside the right footrest 1012 one by one; the right pedal 16 is formed with the left pedal 4 The structure is symmetrical between the left and right sides. The upper side of the right pedal 16 is provided with anti-slip stripes. The left side thereof is rotatably connected to the left side of the right footrest 1012. The right side of the right pedal 16 is provided with a right pedal groove 1601. The right pedal groove 1601 facilitates the user to flip the right pedal 16. A No. 3 magnet 1602 is provided at the right end of the lower side of the right pedal 16. The lower side of the right pedal 16 is provided with four arc-shaped circular pits. The positions of the four arc-shaped circular pits correspond one by one to the positions of the four massage chambers 1015 inside the left footrest 107.

[0031] Embodiment 1: When the user's feet adopt the pedal support mode, the left pedal 4 is flipped to the left and covers the upper side of the left footrest 107, the No. 1 magnet 1013 and the No. 2 magnet 402 fit together and fix the left pedal 4 according to the principle of opposites attract, the right pedal 16 is flipped to the right and covers the upper side of the right footrest 1012, the No. 4 magnet 1014 and the No. 3 magnet 1602 fit together and fix the right pedal 16 according to the principle of opposites attract, at this time, the left pedal 4 and the right pedal 16 can provide support for the user's left foot and right foot respectively.

[0032] Embodiment 2: When the user's feet are in massage mode, the user pushes the groove 401 of the left pedal upwards to turn the left pedal 4 180° to the right, and pushes the groove 1601 of the right pedal 16 upwards to turn the right pedal 16 180° to the left; the user takes off the left shoe and places it on the upper side of the left pedal 4, and places the sole of the foot on the upper side of the left foot pedal 107, steps down on the four massage balls 18 on the left foot pedal 107 and moves horizontally, so as to massage the acupuncture points on the sole of the left foot; the user takes off the right shoe and places it on the upper side of the right pedal 16, and places the sole of the foot on the upper side of the right foot pedal 1012, and steps down on the four massage balls 18 on the right foot pedal 1012 and moves horizontally, so as to massage the acupuncture points on the sole of the right foot.

[0033] Embodiment 3: Figure 7As shown, when the wheelchair encounters a road condition with uneven heights on the left and right, such as a single-sided bridge, for example, when the road surface on the right side of the wheelchair is higher, the inclination sensor 13 will detect that the seat is tilted left and right, and transmit the inclination data to the control center. After data sorting, the control center sends a command to the left swing arm motor 5 and the left electric push rod 2 to swing the left swing arm 7 backward at an appropriate angle and extend the left electric push rod 2, thereby raising the seat and keeping the seat in a horizontal state at all times. The whole process adopts the negative feedback closed-loop control principle, which can ensure that the user always has a good riding experience and prevent the wheelchair from tipping over to the left; when the road surface on the left side of the wheelchair is higher, the adjustment process of the right swing arm 8 and the right electric push rod is the same as the above principle.

[0034] Embodiment 4: Figure 8 As shown, when the wheelchair goes uphill, the inclination sensor 13 will detect that the front of the seat is higher than the back, and transmit the inclination data to the control center. After data processing, the control center will issue instructions to the left swing arm motor 5 and the right swing arm motor 10, so that the left swing arm 7 and the right swing arm 8 swing backward at an appropriate angle at the same time, so that the rear end of the seat is raised, and the seat is always kept in a horizontal state. The whole process adopts the negative feedback closed-loop control principle, which can ensure that the user always has a good riding experience and prevent the wheelchair and the user from falling backward; when the wheelchair goes downhill, the inclination sensor 13 will detect that the front of the seat is lower than the back, and transmit the inclination data to the control center. After data processing, the control center will issue instructions to the left electric push rod 2 and the right electric push rod, so that the two electric push rods are appropriately extended, so that the front end of the seat is raised, and the seat is always kept in a horizontal state. The whole process adopts the negative feedback closed-loop control principle, so that the user always has a good riding experience and prevents the wheelchair and the user from falling forward.

Claims

1. An automatically leveling wheelchair, mainly comprising a wheelchair body (1), a left front wheel rod (3), a left pedal (4), a left swing arm motor (5), a left rear wheel (6), a left swing arm (7), a right swing arm (8), a right worm (9), a right swing arm motor (10), a right wheel motor (11), a right rear wheel (12), an inclination sensor (13), a left worm (14), a left wheel motor (15), a right pedal (16), a massage ball (18), a top cover (19), a spring (20), and a bottom cover (21), characterized in that: A wheelchair body (1) is provided with a seat, a backrest is provided at the rear end of the seat, a left armrest (101) and a right armrest (102) are provided on the left and right sides of the wheelchair body (1), a left cylinder rod (103) and a right cylinder rod (104) are provided at the lower front ends of the two armrests, respectively, a left front wheel is installed in the left cylinder rod (103) through a left front wheel rod (3) and forms a moving pair, a right front wheel is installed in the right cylinder rod (104) through a right front wheel rod (17) and forms a moving pair, a left extension rod (108) and a right extension rod (1010) are provided at the rear end of the wheelchair body (1), a left worm gear (109) and a right worm gear (1011) are provided at the rear ends of the two extension rods, respectively, and an inclination sensor (13) is provided at the rear side of the wheelchair body (1); The left swing arm (7) is coaxially connected to the left worm gear (109), the left rear wheel (6) is rotatably mounted on the left front end of the left swing arm (7), the left wheel motor (15) mounted on the right front end of the left swing arm (7) can drive the left rear wheel (6) to rotate, the left worm (14) is mounted on the right side of the left swing arm (7) and meshes with the left worm gear (109), the left swing arm motor (5) coaxially mounted with the left worm gear (14) can drive the latter to rotate; The right swing arm (8) is coaxially connected to the right worm gear (1011), the right rear wheel (12) is rotatably mounted on the right side of the front end of the right swing arm (8), the right wheel motor (11) mounted on the left side of the front end of the right swing arm (8) can drive the right rear wheel (12) to rotate, the right worm (9) is mounted on the left side of the right swing arm (8) and meshes with the right worm gear (1011), and the right swing arm motor (10) coaxially mounted with the right worm gear (9) can drive the latter to rotate; The rear swing arm knob (105) is mounted on the upper front side of the left armrest (101), and the rear swing arm knob (105) can be rotated to control the rotation of the left swing arm (7) and the right swing arm (8); the operating rod (106) is mounted on the upper front side of the right armrest (102), and the operating rod (106) can be used to control the movement of the wheelchair; The wheelchair body (1) is provided with a left footrest (107) and a right footrest (1012) at the lower front end; four massage chambers (1015) are provided inside the two footrests, and a massage unit is installed in each massage chamber (1015), and the massage unit comprises a massage ball (18), a top cover (19), a spring (20) and a bottom cover (21); the massage ball (18) in the massage unit is installed at the top end of the corresponding massage chamber (1015); three rollers (1901) provided at the upper end of the top cover (19) are supported on the lower side of the massage ball (18); and the bottom cover (21) is provided at the lower end of the top cover (19). The left pedal (4) is rotatably connected to the left footrest (107). After the left pedal (4) is turned to the left, it can cover the upper side of the left footrest (107) and fix the left pedal (4) according to the principle of magnets with opposite poles attracting each other. The right pedal (16) is rotatably connected to the right footrest (1012). After the right pedal (16) is turned to the right, it can cover the upper side of the right footrest (1012) and fix the right pedal (16) according to the principle of magnets with opposite poles attracting each other.

2. The automatically leveling wheelchair according to claim 1, characterized in that: The battery pack can provide electric energy for the electrical equipment of the wheelchair, and an intelligent control system is integrated inside the control center.

3. The automatically leveling wheelchair according to claim 1, characterized in that: The inclination sensor (13) can be used to monitor the inclination angle of the wheelchair in real time and transmit the data to a control center.

4. The automatically leveling wheelchair according to claim 1, characterized in that: A left horizontal support platform (702) is arranged on the upper side of the front end of the left swing arm (7), and a left rear support platform (703) is arranged on the rear end of the left swing arm (7).

5. The automatically leveling wheelchair according to claim 1, characterized in that: Among the four massage chambers (1015) of the right footrest (1012), two are located at both sides of the front end of the right footrest (1012), and the other two massage chambers (1015) are respectively located in the middle and rear end of the right footrest (1012).

6. The automatically leveling wheelchair according to claim 1, characterized in that: The closing structure at the upper end of the massage chamber (1015) allows the massage ball (18) to protrude upwards from the upper side of the right footrest (1012), but cannot be separated from the massage chamber (1015).

7. The automatically leveling wheelchair according to claim 1, characterized in that: The top cover (19) is a cylindrical structure with an opening facing downward, and three rollers (1901) are horizontally arranged at the upper end and are evenly distributed at equal angles in the circumferential direction.

8. The automatically leveling wheelchair according to claim 1, characterized in that: The bottom end of the bottom cover (21) is provided with a hexagonal hole, which is convenient for rotating the bottom cover (21) using a hexagonal wrench. Adjusting the position of the bottom cover (21) can adjust the elastic force of the spring (20), thereby adjusting the massage support strength of the massage ball (18) on the user's foot.

9. The automatically leveling wheelchair according to claim 1, characterized in that: The upper side of the left pedal (4) is provided with anti-slip stripes, and the left side thereof is provided with a left pedal groove (401), and the right pedal (16) and the left pedal form a left-right symmetrical structure.

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