Multifunctional intelligent wheelchair and control method

Abstract

The invention belongs to the technical field of intelligent wheelchairs, and particularly relates to a multifunctional intelligent wheelchair and a control method. The multifunctional intelligent wheelchair comprises a wheelchair chassis; the posture changing device is mounted on the wheelchair chassis; the back mechanism, the hip mechanism, the leg mechanism and the foot mechanism are rotationally connected in sequence; wherein the hip mechanism is mounted on the wheelchair chassis; a defecation cavity used for defecation of a patient is formed between the first hip transfer assembly and the second hip transfer assembly, and the defecation cavity is in butt joint with a closestool during use; the wheelchair chassis is provided with a partition swing device for partitioning the defecation cavity; the partition swing device is not connected with the upper end of the hip frame and rotationally connected with the lower end of the hip frame. The hip mechanism is formed by splicing the first hip transferring assembly and the second hip transferring assembly, the patient can be transferred on the left side and the right side, meanwhile, the defecation action of the patient in the sitting posture or the lying posture is achieved, the structure is compact, and implementation is easy.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent wheelchairs, and in particular relates to a multifunctional intelligent wheelchair and a control method thereof. Background Art

[0002] With the continuous advancement of science and technology, there is an increasing need to use modern high-tech to improve people's quality of life. For people who cannot move independently, wheelchairs are their indispensable daily tools and a necessary tool for their travel.

[0003] Most of the existing multifunctional wheelchairs have complex structures and cannot simultaneously have the functions of toileting, transferring, and assisted mobility. When users use the toilet or transfer, they still need a lot of family members or medical assistance, resulting in waste of manpower and inconvenience for users.

[0004] Therefore, there is an urgent need for a multifunctional intelligent wheelchair that integrates toileting, transportation and mobility. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of wheelchairs in the prior art, such as single function, complex structure and need for manual assistance, and to provide a multifunctional intelligent wheelchair and a control method that integrates toileting, transportation and movement.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] As a first aspect, a multifunctional intelligent wheelchair comprises:

[0008] Wheelchair chassis;

[0009] A posture changing device mounted on the wheelchair chassis;

[0010] The back mechanism, hip mechanism, leg mechanism and foot mechanism are sequentially rotated and connected; wherein the hip mechanism is mounted on the wheelchair chassis;

[0011] The hip mechanism comprises a hip frame mounted on the wheelchair chassis, a hip drive mechanism mounted on the hip frame, a first hip transfer assembly connected to the output end of the hip drive mechanism via a first transmission assembly, and a second hip transfer assembly connected to the first hip transfer assembly via a second transmission assembly;

[0012] A toilet cavity for the patient to use the toilet is arranged between the first buttocks transfer component and the second buttocks transfer component. When in use, the toilet cavity is connected to the toilet. A partition swing device for partitioning the toilet cavity is installed on the wheelchair chassis. The partition swing device is not connected to the upper end of the buttocks frame, but is rotatably connected to the lower end of the buttocks frame.

[0013] Furthermore, the partition swinging device includes:

[0014] A support frame fixedly installed on the wheelchair chassis;

[0015] A first bracket fixedly installed on the support frame;

[0016] A first swinging small frame rotatably installed on the first bracket;

[0017] A partition swinging push rod, one end of the partition swinging push rod is rotatably installed on the first bracket, and a partition assembly is rotatably installed at the other end of the partition swinging push rod; the lower end of the partition assembly is rotatably connected to the hip frame.

[0018] Furthermore, the partition assembly includes:

[0019] A seat plate swinging frame rotatably installed with the hip frame;

[0020] At least two passive rotating rollers arranged along the Y-axis direction on the seat plate swinging frame;

[0021] A passive transfer belt sleeved on the passive rotating rollers;

[0022] A swinging support plate fixedly installed on the lower end face of the seat plate swinging frame, and a gap for the passive transfer belt to pass through is provided between the swinging support plate and the seat plate swinging frame.

[0023] Furthermore, both the first hip transfer component and the second hip transfer component include:

[0024] A first hip transfer roller and a second hip transfer roller symmetrically arranged along the Y-axis direction on the hip frame;

[0025] At least two first belt transmission gears arranged at both ends of the first hip transfer roller and coaxially arranged with the first hip transfer roller;

[0026] At least two second belt transmission gears arranged at both ends of the second hip transfer roller and coaxially arranged with the second hip transfer roller;

[0027] A hip transfer annular belt for transmitting between the first hip transfer roller and the second hip transfer roller through the first belt transmission gears and the second belt transmission gears;

[0028] A hip anti-jamming belt device arranged in the annular cavity of the hip transfer annular belt.

[0029] Furthermore, the hip anti-jamming belt device includes:

[0030] A hip support member;

[0031] Two second anti-jamming rollers, rotatably installed on the left and right sides of the leg support;

[0032] The hip anti-jamming annular belt is wound between the two second anti-jamming rollers;

[0033] A number of third transmission teeth are arranged on the inner side surface of the hip transfer belt along the Y-axis direction;

[0034] Fourth transmission teeth that cooperate with the third transmission teeth are arranged on the outer side surface of the hip anti-jamming annular belt.

[0035] Further, the hip driving mechanism includes a first driving mounting frame installed at the lower end of the hip frame and a hip transfer motor installed on the first driving mounting frame;

[0036] The output shaft of the hip transfer motor is in transmission connection with the first transmission component, and both the first transmission component and the second transmission component adopt belt transmission components.

[0037] Further, it further includes a moving mechanism installed at the lower end of the wheelchair chassis, and the moving mechanism includes:

[0038] A front universal wheel installed at the front end of the wheelchair chassis;

[0039] The "∫"-shaped connecting frame is symmetrically and fixedly installed on both sides of the rear end of the wheelchair chassis, and the upper end of the "∫"-shaped connecting frame extends towards the rear side of the wheelchair chassis;

[0040] A power conversion component is installed on the "∫"-shaped connecting frame;

[0041] The rear universal wheel and the power wheel are both installed on the power conversion component, and the rear universal wheel and the power wheel do not contact the ground simultaneously.

[0042] Further, the power conversion component includes:

[0043] A conversion stepped crossbeam rotatably installed on the wheelchair chassis;

[0044] A fine-tuning connecting frame fixedly installed on the conversion stepped crossbeam;

[0045] A fine-tuning long hole is opened on the fine-tuning connecting frame along the vertical direction;

[0046] A power conversion push rod, the fixed end of the power conversion push rod is rotatably connected with the "∫"-shaped connecting frame, and the telescopic end of the power conversion push rod is slidably arranged in the fine-tuning long hole through a pin shaft;

[0047] The power wheel is installed at the front end of the conversion stepped crossbeam, and the rear universal wheel is installed at the rear end of the conversion stepped crossbeam.

[0048] As a second aspect, a control method of a multifunctional intelligent wheelchair includes the following contents:

[0049] Selecting a wheelchair operating mode; the wheelchair operating mode includes a non-powered mode and a powered mode;

[0050] Select an operation mode; the operation modes include toilet mode, sitting posture mode, sitting posture power-assisted mode, lying posture mode, lying posture power-assisted mode, and transport mode;

[0051] Start operation according to the operation mode; if in toilet mode, transfer mode, sitting posture mode, sitting posture mode, the wheelchair operation mode is a non-powered mode; if turning on the spot, the wheelchair operation mode is a non-powered mode.

[0052] Specifically, when the wheelchair is in a non-powered state, the power conversion push rod is in a retracted state, and the rear universal wheel is in contact with the ground;

[0053] When the wheelchair is in the power-assisted mode, the power conversion push rod is in an extended state, and the power wheel is in contact with the ground.

[0054] The beneficial effects of the multifunctional intelligent wheelchair and control method of the present invention are:

[0055] The present invention adopts the form of assembling the first hip transfer component and the second hip transfer component for the hip mechanism, and adopts the first transmission component and the second transmission component to realize the effect of one hip driving mechanism driving the two hip transfer components to rotate synchronously, and at the same time, a toilet cavity for the patient to use the toilet is reserved between the first hip transfer component and the second hip transfer component. When the patient needs to be transferred, it is only necessary to rotate the barrier swing device relative to the hip frame until the barrier swing device is flush with the first hip transfer component and the second hip transfer component, and then start the hip driving mechanism. When the patient needs to use the toilet, it is only necessary to rotate the barrier swing device downward relative to the hip frame so that the toilet cavity is docked with the toilet. The hip mechanism of the present invention can realize the transfer of the patient to the left and right sides while realizing the toilet action of the patient in a sitting or lying position. The structure is compact and the implementation is simple.

[0056] In the first hip transfer assembly and the second hip transfer assembly of the present invention, a hip anti-jamming belt device is provided. The hip anti-jamming belt device is arranged in the annular cavity of the hip annular transfer belt and covers the outside of the hip support member. Through the cooperation of the third transmission gear and the fourth transmission gear, the hip anti-jamming belt device without a power source rotates passively following the hip annular transfer belt, increasing the contact area between the support member and the transfer belt, reducing the wear degree and playing a role in strengthening the support force. At the same time, corresponding anti-jamming belt devices are also provided in the back mechanism and the leg mechanism, avoiding the problem of belt jamming caused by large friction due to the direct contact between the transfer belt and the support member under the action of human body gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0058] Figure 1 FIG. is a first perspective view three-dimensional diagram of the multifunctional intelligent wheelchair in the first embodiment of the present invention.

[0059] Figure 2 FIG. is a second perspective view three-dimensional diagram of the multifunctional intelligent wheelchair in the first embodiment of the present invention.

[0060] Figure 3 FIG. is a structural schematic diagram of the hip mechanism in the first embodiment of the present invention.

[0061] Figure 4 FIG. is a detailed view of the hip anti-jamming belt device in the first embodiment of the present invention.

[0062] Figure 5 FIG. is a structural schematic diagram of the partition assembly in the first embodiment of the present invention.

[0063] Figure 6 FIG. is a partial structural schematic diagram of the lower view of the multifunctional intelligent wheelchair in the first embodiment of the present invention.

[0064] Figure 7 FIG. is a partial structural schematic diagram of the partition assembly in the first embodiment of the present invention.

[0065] Figure 8 FIG. is a partial structural schematic diagram of the back transformation mechanism in the first embodiment of the present invention.

[0066] Figure 9 FIG. is a structural schematic diagram of the back mechanism in the first embodiment of the present invention.

[0067] Figure 10 FIG. is an internal view of the back mechanism in the first embodiment of the present invention.

[0068] Figure 11 FIG. is a structural schematic diagram of the leg mechanism in the first embodiment of the present invention.

[0069] Figure 12It is a schematic structural diagram of the back transformation mechanism in the first embodiment of the present invention.

[0070] Figure 13 It is a schematic structural diagram of the moving mechanism in the first embodiment of the present invention.

[0071] In the figure: 1, wheelchair chassis; 2, attitude transformation device; 21, back transformation mechanism; 211, U-shaped bracket; 212, armrest tube; 213, back transformation push rod; 214, back air spring; 22, leg transformation mechanism; 221, second bracket; 222, lower axle bracket; 223, leg transformation push rod; 224, leg transformation plate; 225, limit block; 226, limit boss; 23, foot-leg linkage assembly; 231, L-shaped connecting rod; 232, S-shaped connecting rod; 3, back mechanism; 31, back bracket; 32, back driving mechanism; 321, second driving mounting frame; 32, back transfer motor; 323, back driving gear; 324, back driven gear; 33, back driving roller; 34, back driven roller; 35, back transmission mechanism; 351, first back transmission pulley; 352, second back transmission pulley; 353, first back transmission belt; 36, back annular transfer belt; 37, back anti-jamming belt device; 371, back anti-jamming roller; 372, back anti-jamming annular belt; 373, first transmission tooth; 375, second transmission tooth; 38, back toothed belt pulley; 4, hip mechanism; 41, hip bracket; 42, hip driving mechanism; 421, first driving mounting frame; 422, hip transfer motor; 43, first transmission component; 44, first hip transfer component; 441, first hip transfer roller; 442, second hip transfer roller; 445, hip transfer annular belt; 446, hip anti-jamming belt device; 4461, hip support; 4462, second anti-jamming roller; 4463, hip anti-jamming annular belt; 4464, third transmission tooth; 4465, fourth transmission tooth; 45, second transmission component; 46, second hip transfer component; 48, partition swing device; 481, support frame; 482, first bracket; 483, first swing bracket; 484, partition swing push rod; 485, partition assembly; 4851, seat plate swing frame; 4852, passive rotation roller; 4853, passive transfer belt; 4854, swing support plate; 5, leg mechanism; 51, leg bracket; 52, leg driving mechanism; 53, leg driving roller; 55, leg transfer annular belt; 56, leg anti-jamming belt device; 6, foot mechanism; 7, moving mechanism; 71, front universal wheel; 72, "∫"-shaped connecting frame; 73, power conversion component; 731, conversion step cross beam; 732, fine adjustment connecting frame; 733, fine adjustment long hole; 734, power conversion push rod; 74, rear universal wheel; 75, power wheel; 8, toilet; 9, armrest mechanism. Detailed implementation manners

[0072] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0073] Embodiment 1

[0074] like Figures 1-13 The specific embodiment of a multifunctional intelligent wheelchair of the present invention is shown. In this embodiment, when the left, right, up, down, front and back are all in a sitting posture, the left, right, up, down, front and back of the patient are used as reference datums. The multifunctional intelligent wheelchair comprises a wheelchair chassis 1, a posture changing device 2 mounted on the wheelchair chassis 1, a back mechanism 3, a hip mechanism 4, a leg mechanism 5 and a foot mechanism 6 which are connected in rotation in sequence; wherein the hip mechanism 4 is mounted on the wheelchair chassis 1, specifically, the hip mechanism 4 comprises a hip frame 41 mounted on the wheelchair chassis 1, a hip driving mechanism 42 mounted on the hip frame 41, a first hip transfer assembly 44 which is transmission-connected to the output end of the hip driving mechanism 42 via a first transmission assembly 43, and a second hip transfer assembly 46 which is transmission-connected to the first hip transfer assembly 44 via a second transmission assembly 45. A toilet cavity for the patient to use the toilet is arranged between the first buttocks transfer component 44 and the second buttocks transfer component 46. When in use, the toilet cavity is connected to the toilet 8. A partition swing device 48 for partitioning the toilet cavity is installed on the wheelchair base frame 1. The partition swing device is not connected to the upper end of the buttocks frame 41, but is rotatably connected to the lower end of the buttocks frame 41.

[0075] In the first embodiment of the present invention, the buttocks mechanism 4 is assembled in the form of a first buttocks transfer component 44 and a second buttocks transfer component 46, and a first transmission component 43 and a second transmission component 45 are used to realize the effect that a buttocks driving mechanism 42 drives the two buttocks transfer components to rotate synchronously. At the same time, a toilet cavity for the patient to use the toilet is reserved between the first buttocks transfer component 44 and the second buttocks transfer component 46. When the patient needs to be transferred, it is only necessary to rotate the barrier swing device relative to the buttocks frame 41 until the barrier swing device is flush with the first buttocks transfer component 44 and the second buttocks transfer component 46, and then start the buttocks driving mechanism 42. When the patient needs to use the toilet, it is only necessary to rotate the barrier swing device downward relative to the buttocks frame 41 so that the toilet cavity is docked with the toilet 8. The buttocks mechanism 4 of the present invention can realize the transfer of the patient to the left and right sides while realizing the patient's toileting action in a sitting or lying position. The structure is compact and the implementation is simple.

[0076] like Figure 6As shown, the barrier swing device in the first embodiment includes: a support frame 481 fixedly mounted on the wheelchair chassis 1, a first bracket 482, a first swing frame 483, and a barrier swing push rod 484, wherein the first bracket 482 is fixedly mounted on the support frame 481, the first swing frame 483 is rotatably mounted on the first bracket 482, one end of the barrier swing push rod 484 is rotatably mounted on the first bracket 482, and the other end of the barrier swing push rod 484 is rotatably mounted with a barrier assembly 485; the lower end of the barrier assembly 485 is rotatably connected to the hip frame 41. The lower end of the barrier assembly is rotatably connected to the hip frame 41, and the upper end is in a suspended state, so that when docking with the toilet 8, the toilet 8 enters from the rear of the wheelchair to the bottom of the hip mechanism 4, which adapts to the actual toilet 8 being habitually placed against the wall.

[0077] Specifically, the barrier assembly 485 includes: a seat plate swing frame 4851 rotatably mounted with the hip frame 41, at least two passive rotating rollers 4852, a passive transfer belt 4853 and a swing support plate 4854. In this embodiment, there are two passive rotating rollers 4852, and the two passive rotating rollers 4852 are arranged on the seat plate swing frame 4851 along the Y-axis direction. The passive transfer belt 4853 is sleeved on the passive rotating rollers 4852. The swing support plate 4854 is fixedly mounted on the lower end surface of the seat plate swing frame 4851, and a gap is provided between the swing support plate 4854 and the seat plate swing frame 4851 for the passive transfer belt 4853 to pass through.

[0078] When the transport action is performed, the barrier swing push rod 484 is in an extended state, so that the barrier assembly 485 is filled in the toilet cavity, and the passive transport belt 4853 in the barrier assembly 485 is flush with the hip transport annular belt 445 in the first hip transport assembly 44 and the second hip transport assembly 46 on the horizontal plane. When the side action is performed, the barrier swing push rod 484 is in a contracted state, and the barrier swing push rod 484 pulls the barrier assembly 485 to rotate downward relative to the lower end of the hip frame 41 until the barrier assembly 485 is completely rotated out of the space corresponding to the toilet cavity. The setting of the barrier device not only meets the transportation action, but also facilitates the patient's toilet action for the rotation of the human body. And the barrier assembly 485 is rotated forward and pulled open, so that the transport chair can enter the toilet 8 from the rear, which is reasonable in design and simple in structure. At the same time, the wheelchair of this embodiment also includes a control module and a battery, which are respectively installed on the left and right sides of the chassis to avoid interference with the toilet action caused by the installation of the control module box battery.

[0079] It should be further noted that the lower part of the partition swing push rod 484 in this embodiment is rotationally installed on the first bracket 482 through the first swing bracket 483, and the first bracket 482 is installed on the support frame 481, so that when the partition swing push rod 484 converts the rotational movement and the toileting movement, it has a small fine-tuning displacement, enabling the conversion between the rotational movement and the toileting movement. The contraction of the partition swing push rod 484 has a certain buffer space, and the action conversion is relatively gentle, giving the patient time to adapt.

[0080] Both the first hip transfer assembly 44 and the second hip transfer assembly 46 include: a first hip transfer roller 441 and a second hip transfer roller 442 symmetrically arranged on the hip frame 41 along the Y-axis direction, at least two first belt drive gears arranged at both ends of the first hip transfer roller 441, at least two second belt drive gears arranged at both ends of the second hip transfer roller 442, a hip transfer endless belt 445, and a hip anti-jamming belt device 446. Among them, the first belt drive gear is coaxially arranged with the first hip transfer roller 441, the second belt drive gear is coaxially arranged with the second hip transfer roller 442, the hip transfer endless belt 445 is driven between the first hip transfer roller 441 and the second hip transfer roller 442 through the first belt drive gear and the second belt drive gear, and the hip anti-jamming belt device 446 is arranged in the annular cavity of the hip transfer endless belt 445.

[0081] The hip anti-jamming belt device 446 includes: a hip support member 4461, two second anti-jamming rollers 4462, a hip anti-jamming endless belt 4463, a number of third drive teeth 4464, and a number of fourth drive teeth 4465. Specifically, the two second anti-jamming rollers 4462 are rotationally installed on the left and right sides of the leg support member, the hip anti-jamming endless belt 4463 is wound between the two second anti-jamming rollers 4462, a number of third drive teeth 4464 are arranged on the inner side surface of the hip annular transfer belt 445 along the Y-axis direction, and fourth drive teeth 4465 that are cooperatively connected with the third drive teeth 4464 are arranged on the outer side surface of the hip anti-jamming endless belt 4463.

[0082] In the first hip transfer assembly 44 and the second hip transfer assembly 46 of this embodiment, a hip anti-jamming belt device 446 is provided. The hip anti-jamming belt device 446 is arranged in the annular cavity of the hip annular transfer belt and covers the outside of the hip support member 4461. Through the cooperation of the third drive teeth 4464 and the fourth drive teeth 4465, the hip anti-jamming belt device 446 without a power source rotates passively following the hip annular transfer belt. At the same time, corresponding anti-jamming belt devices are also provided in the back mechanism 3 and the leg mechanism 5, avoiding the problem of belt jamming caused by the direct contact between the transfer belt and the support member under the action of human body gravity due to large friction.

[0083] In this embodiment, the hip drive mechanism 42 includes a first drive mounting bracket 421 installed at the lower end of the hip bracket 41, a hip transfer motor 422 installed on the first drive mounting bracket 421, and the output shaft of the hip transfer motor 422 is in transmission connection with the first transmission assembly 43. Both the first transmission assembly 43 and the second transmission assembly 45 adopt belt transmission assemblies.

[0084] As Figure 9 and Figure 10 shown, the back mechanism in this embodiment includes: a back bracket 31, a back drive mechanism 32 installed at the upper end of the back bracket 31, a back driving roller 33 and a back driven roller 34 installed on both sides of the back bracket 31, and at least one back anti - jamming belt device 37. Among them, the back driving roller 33 is in transmission connection with the output end of the back drive mechanism 32 through a back transmission mechanism 35; the back driven roller 34 is in transmission connection with the back driving roller 33 through a back annular transfer belt 36.

[0085] The back anti - jamming belt device 37 is arranged in the annular cavity of the back annular transfer belt 36. The back anti - jamming belt device 37 includes two back anti - jamming rollers 371 arranged on both sides of the back bracket 31 and a back anti - jamming annular belt 372 wound around the two back anti - jamming rollers 371. A number of first transmission teeth 373 are arranged on the inner side surface of the back annular transfer belt 36 along the Z - axis direction; a number of second transmission teeth 375 that are in transmission cooperation with the first transmission teeth 373 are arranged on the outer side surface of the back anti - jamming annular belt 372. The back bracket 31 is arranged in the annular cavity of the back anti - jamming annular belt. This embodiment takes Figure 1 the coordinate system marked in

[0086] as the reference coordinate. The back mechanism 3 of this embodiment realizes the left - right transfer of the human body by using the back driving roller 33, the back driven roller 34 and the back annular transfer belt 36. The back anti - jamming belt device 37 is arranged on the back mechanism where the force is the greatest when the human body lies flat. The anti - jamming belt device is arranged in the annular cavity of the back annular transfer belt 36 and covers the outside of the back bracket 31. Through the cooperation of the first transmission teeth 373 and the second transmission teeth 375, the back anti - jamming belt device 37 without a power source rotates passively following the back annular transfer belt 36, fundamentally avoiding the problem of belt jamming caused by large frictional force due to the direct contact between the transfer belt and the bracket under the action of human gravity. The back annular transfer belt 36 of this embodiment does not directly contact the back bracket 31, and by using the passive rotation of the back anti - jamming belt device 37, the problem of large frictional force between the transfer belt and the bracket is completely solved, and the belt jamming phenomenon during the transfer process is completely avoided, ensuring the stability and efficiency of the transfer.

[0087] As Figure 9As shown in the figure, the back drive mechanism 32 in this embodiment includes a second drive mounting bracket 321 installed at the end of the back bracket 31, a back transfer motor 32 installed on the second drive mounting bracket 321, a back driving gear 323 coaxially arranged with the output shaft of the back transfer motor 32, and a back driven gear 324 meshed with the back driving gear 323. The back transmission mechanism 35 includes a first back transmission belt pulley 351 installed at the upper end of the back bracket 31 and a second back transmission belt pulley 352 coaxially arranged with the upper end of the back driving roller 33; the first back transmission belt pulley 351 is coaxially arranged with the back driven gear 324, and the first back transmission belt pulley 351 and the second back transmission belt pulley 352 are drivingly connected by a first back transmission belt 353.

[0088] During use, start the back transfer motor 32 to drive the back driving gear 323 to rotate, and then drive the back driven gear 324, the first back transmission belt pulley 351, and the second back transmission belt pulley 352 to rotate. The second back transmission belt pulley 352 drives the back driving roller 33 to rotate. Under the action of the back annular transfer belt 36, the rotation of the back driven roller 34 is driven, thereby realizing the transfer of the patient's back.

[0089] To achieve the transfer stability of the back annular transfer belt 36, at least two back toothed belt pulleys 38 are provided on both the back driving roller 33 and the back driven roller 34 in this embodiment. The back toothed belt pulleys 38 are in driving cooperation with the first transmission teeth 373 on the outer side surface of the back annular transfer belt 36 to prevent the back annular transfer belt 36 from slipping during rotation.

[0090] It should be further noted that the back bracket 31 in this embodiment includes a frame body, a plurality of cross beams and a plurality of longitudinal beams fixedly arranged inside the frame body; the inner side surface of the back anti - jamming annular belt 372 is a smooth surface and is in clearance fit with the cross beams and longitudinal beams. The back bracket 31 can not only support the human body but also avoid the problem of large friction with the transfer annular belt.

[0091] As Figure 11 As shown in the figure, the leg mechanism 5 in this embodiment includes a leg bracket 51 rotatably connected to the hip bracket 41, a leg drive mechanism 52, a leg driving roller 53, a leg driven roller, and a leg anti - jamming belt device 56. Specifically, the leg drive mechanism 52 is installed at the lower end of the leg bracket 51. The leg driving roller 53 is drivingly connected to the leg drive mechanism 52 through a leg transmission component, and the leg driving roller 53 and the leg driven roller are drivingly connected by a leg transfer annular belt 55. The leg anti - jamming belt device 56 is arranged in the annular cavity of the leg transfer annular belt 55.

[0092] The leg drive mechanism 52 is installed at the lower end of the leg bracket 51. The leg drive mechanism 52 has the same structure as the back drive mechanism 32, and its specific structure will not be elaborated here in detail. The structure and working principle of the leg anti-jamming belt device 56 are the same as those of the first anti-jamming belt device, and will not be elaborated here either. It should be understood that those skilled in the art should be able to perform adaptive installation on the leg drive mechanism 52 and the four-way anti-jamming belt device according to specific requirements. The present invention also provides corresponding anti-jamming belt devices in the hip mechanism and the leg mechanism 5 to assist the back mechanism in more stable transportation of the human body.

[0093] It should be further noted that sponges are pasted on the outer layers of the back mechanism, hip mechanism, and leg mechanism in this embodiment. On the one hand, it divides the patient's weight, and on the other hand, it improves the comfort of the patient.

[0094] As Figure 7 shown, the foot mechanism 6 in this embodiment includes a foot bracket rotatably connected to the leg mechanism 5 and a footrest provided on the foot bracket. It should be further noted that considering that the feet are subject to very little force when the human body lies flat, the foot mechanism 6 in this embodiment does not have a transportation function and ensures the stability of the patient's feet when performing the wheelchair function.

[0095] It should be understood that the transfer wheelchair in this embodiment further includes an attitude transformation device 2 for transforming the transfer wheelchair between a sitting attitude, a semi-reclining attitude, and a reclining attitude. The attitude transformation device 2 includes a back transformation mechanism 21, a leg transformation mechanism 22, and a foot-leg linkage assembly 23.

[0096] See Figure 12 , wherein the back transformation mechanism 21 includes U-shaped brackets 211 installed on both sides of the back mechanism and armrest tubes 212 installed between the two U-shaped brackets 211; a back transformation push rod 213 is rotatably installed between a U-shaped bracket 211 and the corresponding wheelchair base 1 below it, and a back air spring 214 is rotatably installed between the other U-shaped bracket 211 and the corresponding wheelchair base below it. The back air spring 214 makes an extension / compression movement following the telescopic movement of the back transformation push rod 213. To ensure that the angle of back transformation is sufficient, one end of the back transformation push rod 213 in this embodiment is rotatably installed on the wheelchair base, and the other end is rotatably installed on the upper end of the U-shaped bracket 211 through a connecting piece. When the wheelchair is in the sitting attitude, family members or medical staff can push the armrest tube 212 to move the wheelchair.

[0097] The leg transformation mechanism 22 includes a second bracket 221 fixedly installed on the support frame 481, a lower shaft frame 222 rotatably installed on the second bracket 221, and a leg transformation push rod 223 rotatably installed on the lower shaft frame 222. The fixed end of the leg transformation push rod 223 is rotatably connected to the lower shaft frame 222, and a leg transformation plate 224 is rotatably installed at the telescopic end of the leg transformation push rod 223. The leg transformation plate 224 is fixedly connected to both ends of the leg bracket 51.

[0098] To prevent excessive rotation between the leg transfer mechanism 5 and the hip bracket 41, a limit block 225 for limiting the extension movement of the leg transformation push rod 223 is provided on the lower end surface of the second bracket 221; when the lower shaft frame 222 abuts against the limit block 225, the lower shaft frame 222 stops rotating downward. At the same time, a limit boss 226 for limiting the contraction movement of the leg transformation push rod 223 is provided on the lower shaft frame 222. When the limit boss 226 on the lower shaft frame 222 abuts against the mating surface of the second bracket 221, the lower shaft frame 222 and the second bracket 221 stop rotating. The use of the limit block 225 and the limit boss 226 ensures that the rotatably arranged leg transformation push rod 223 will not extend or contract excessively, ensuring the stability of leg transformation.

[0099] As Figure 6 shown, the foot-leg linkage assembly 23 is installed between the foot bracket and the leg bracket 51. The foot-leg linkage assembly 23 includes an L-shaped connecting rod 231 fixedly installed at the upper end of the foot bracket and an S-shaped connecting rod 232 rotatably connected to the L-shaped connecting rod 231. The end of the S-shaped connecting rod 232 away from the L-shaped connecting rod 231 is rotatably installed at the upper end of the leg bracket 51.

[0100] When converting the transfer wheelchair from the sitting posture to the lying posture, the back transformation push rod 213 and the leg transformation push rod 223 are activated, causing the back transformation push rod 213 and the leg transformation push rod 223 to perform an extension movement. Under the action of the back transformation push rod 213 and the back air spring 214, the relative angle between the back mechanism and the hip mechanism changes until the included angle between the two becomes 180 degrees. The leg transformation push rod 223 extends, driving the leg mechanism 5 to rotate relative to the hip mechanism. At this time, under the action of the foot-leg linkage assembly 23, the relative rotation between the foot mechanism 6 and the leg mechanism 5 is realized. When the included angle between the leg mechanism 5 and the hip mechanism is 180 degrees, the included angle between the foot mechanism 6 and the leg mechanism 5 is also 180 degrees. The transfer wheelchair is converted from the sitting posture to the lying posture.

[0101] When converting the transfer wheelchair from the lying posture to the sitting posture, the back transformation push rod 213 and the leg transformation push rod 223 are activated, causing the back transformation push rod 213 and the leg transformation push rod 223 to perform a contraction movement, realizing the conversion of the transfer wheelchair from the lying posture to the sitting posture.

[0102] AsFigure 13 As shown in Figure 13 , the wheelchair in the first embodiment further includes a moving mechanism 7 installed at the lower end of the wheelchair chassis 1. The moving mechanism 7 includes a front universal wheel 71 installed at the front end of the wheelchair chassis 1, a "∫"-shaped connecting frame 72, a power conversion assembly 73, a rear universal wheel 74, and a power wheel 75. The "∫"-shaped connecting frame 72 is symmetrically and fixedly installed on both sides of the rear end of the wheelchair chassis 1, and the upper end of the "∫"-shaped connecting frame 72 extends towards the rear side of the wheelchair chassis 1. The power conversion assembly 73 is installed on the "∫"-shaped connecting frame 72. Both the rear universal wheel 74 and the power wheel 75 are installed on the power conversion assembly 73, and the rear universal wheel 74 and the power wheel 75 do not contact the ground simultaneously. Specifically, the power conversion assembly 73 includes: a conversion stepped crossbeam 731 rotatably installed on the wheelchair chassis 1, a fine-tuning connecting frame 732, a fine-tuning long hole 733, and a power conversion push rod 734. Among them, the fine-tuning connecting frame 732 is fixedly installed on the conversion stepped crossbeam 731. The fine-tuning long hole 733 is opened vertically on the fine-tuning connecting frame 732. The fixed end of the power conversion push rod 734 is rotatably connected to the "∫"-shaped connecting frame 72, and the telescopic end of the power conversion push rod 734 is slidably arranged in the fine-tuning long hole 733 through a pin shaft. The power wheel 75 is installed at the front end of the conversion stepped crossbeam 731, and the rear universal wheel 74 is installed at the rear end of the conversion stepped crossbeam 731.

[0103] The conversion stepped crossbeam 731 in this embodiment includes a low stepped portion and a high stepped portion. During installation, the rear universal wheel 74 is installed on the high stepped portion, and the power wheel 75 is installed on the low stepped portion. At the same time, the rotational connection point between the conversion stepped crossbeam 731 and the wheelchair chassis 1 is located on the high stepped portion. This embodiment ingeniously adopts the conversion stepped crossbeam 731, the "∫"-shaped connecting frame 72, the power conversion push rod 734, the fine-tuning connecting frame 732, and the connection relationships of various components, so that when the power conversion push rod 734 is in a contracted state, the rear universal wheel 74 contacts the ground, and when the power conversion push rod 734 is in an extended state, the power wheel 75 contacts the ground, realizing the interference-free switching between the power wheel 75 and the rear universal wheel 74, and ensuring that the power wheel 75 and the rear universal wheel 74 do not touch the ground simultaneously.

[0104] It should be further noted that, in order to maintain the stability of the wheelchair in various postures, anti-tipping mechanisms are installed on both "∫"-shaped connecting frames 72. As a preferred implementation manner, the anti-tipping mechanism includes an anti-tipping frame fixedly installed behind the "∫"-shaped connecting frame 72 and an anti-tipping wheel installed on the anti-tipping frame. The anti-tipping wheel always contacts the ground to provide stable support for the wheelchair.

[0105] Embodiment Two

[0106] Based on the above control method of the multifunctional intelligent wheelchair, it includes the following content:

[0107] S10: Select the wheelchair operating mode; in this embodiment, the wheelchair operating mode includes a non-powered mode and a power-assisted mode; when the wheelchair operating mode is in the non-powered mode, the power conversion push rod 734 is in a retracted state, and the rear universal wheel 74 is in contact with the ground; when the wheelchair operating mode is in the power-assisted mode, the power conversion push rod 734 is in an extended state, and the power wheel 75 is in contact with the ground.

[0108] S20: Select an operation mode; the operation modes include toilet mode, sitting posture mode, sitting posture power-assisted mode, lying posture mode, lying posture power-assisted mode, and transfer mode.

[0109] S30: Start operation according to the operation mode; if the wheelchair is in toilet mode, transfer mode, sitting posture mode, or sitting posture mode, the wheelchair operation mode is a non-powered mode; if turning on the spot, the wheelchair operation mode is a non-powered mode.

[0110] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A multifunctional intelligent wheelchair, characterized in that, Comprising: A wheelchair chassis; An attitude transformation device installed on the wheelchair chassis; A back mechanism, a hip mechanism, a leg mechanism, and a foot mechanism that are sequentially rotationally connected; wherein, the hip mechanism is installed on the wheelchair chassis; The hip mechanism includes a hip frame installed on the wheelchair chassis, a hip drive mechanism installed on the hip frame, a first hip transfer assembly transmission-connected to the output end of the hip drive mechanism through a first transmission assembly, and a second hip transfer assembly transmission-connected to the first hip transfer assembly through a second transmission assembly; A toilet cavity for the patient to use the toilet is arranged between the first hip transfer assembly and the second hip transfer assembly. During use, the toilet cavity is docked with the toilet; a partition swing device for partitioning the toilet cavity is installed on the wheelchair chassis; the partition swing device is not connected to the upper end of the hip frame and is rotationally connected to the lower end of the hip frame.

2. The multifunctional intelligent wheelchair according to claim 1, wherein The partition swing device includes: A support frame fixedly installed on the wheelchair chassis; A first bracket fixedly installed on the support frame; A first swing small frame rotationally installed on the first bracket; A partition swing push rod, one end of the partition swing push rod is rotationally installed on the first bracket, and a partition assembly is rotationally installed at the other end of the partition swing push rod; the lower end of the partition assembly is rotationally connected to the hip frame.

3. The multifunctional intelligent wheelchair according to claim 2, characterized in that, The partition assembly includes: A seat plate swing frame rotationally installed with the hip frame; At least two passive rotation rollers arranged along the Y-axis direction on the seat plate swing frame; A passive transfer belt sleeved on the passive rotation rollers; A swing support plate fixedly installed on the lower end surface of the seat plate swing frame, and a gap for the passive transfer belt to pass through is arranged between the swing support plate and the seat plate swing frame.

4. A multifunctional intelligent wheelchair according to claim 1, wherein, Both the first hip transfer assembly and the second hip transfer assembly include: A first hip transfer roller and a second hip transfer roller symmetrically arranged along the Y-axis direction on the hip frame; At least two first belt drive gears arranged at both ends of the first hip transfer roller and coaxially arranged with the first hip transfer roller; At least two second belt drive gears arranged at both ends of the second hip transfer roller and coaxially arranged with the second hip transfer roller; A hip transfer annular belt for driving between the first hip transfer roller and the second hip transfer roller through the first belt drive gears and the second belt drive gears; A hip anti-jamming belt device arranged in the annular cavity of the hip transfer annular belt.

5. The multifunctional intelligent wheelchair according to claim 4, wherein The hip anti-jamming belt device includes: A hip support member; Two second anti-jamming rollers rotationally installed on the left and right sides of the leg support member; A hip anti-jamming annular belt wound between the two second anti-jamming rollers; A number of third transmission teeth arranged along the Y-axis direction on the inner side surface of the hip transfer belt; Fourth transmission teeth that are cooperatively connected with the third transmission teeth are arranged on the outer side surface of the hip anti-jamming annular belt 4463.

6. The multifunctional intelligent wheelchair according to claim 4, characterized in that , The hip drive mechanism includes a first drive mounting frame installed at the lower end of the hip frame and a hip transfer motor installed on the first drive mounting frame. The output shaft of the buttocks transfer motor is in transmission connection with the first transmission assembly, and both the first transmission assembly and the second transmission assembly adopt belt transmission assemblies.

7. The multifunctional intelligent wheelchair according to claim 1, characterized in that, It also includes a moving mechanism installed at the lower end of the wheelchair chassis, and the moving mechanism includes: A front universal wheel mounted at the front end of the wheelchair chassis; A "∫"-shaped connecting frame is symmetrically fixedly mounted on both sides of the rear end of the wheelchair chassis, and the upper end of the "∫"-shaped connecting frame extends toward the rear side of the wheelchair chassis; A power conversion assembly is mounted on the "∫"-shaped connecting frame; The rear universal wheel and the power wheel are both installed on the power conversion assembly, and the rear universal wheel and the power wheel do not contact the ground at the same time.

8. The multifunctional intelligent wheelchair according to claim 7, characterized in that, The power conversion assembly comprises: Rotating a conversion step crossbeam mounted on the wheelchair chassis; A fine-tuning connecting frame, fixedly mounted on the conversion step crossbeam; A fine-tuning long hole is provided on the fine-tuning connecting frame along a vertical direction; A power conversion push rod, wherein the fixed end of the power conversion push rod is rotatably connected to the "∫"-shaped connecting frame, and the telescopic end of the power conversion push rod is slidably arranged in the fine-tuning long hole through a pin shaft; The power wheel is installed at the front end of the conversion step beam, and the rear universal wheel is installed at the rear end of the conversion step beam.

9. The control method of a multifunctional intelligent wheelchair according to claim 8, characterized in that, Includes the following: Selecting a wheelchair operating mode; the wheelchair operating mode includes a non-powered mode and a powered mode; Select an operation mode; the operation modes include toilet mode, sitting posture mode, sitting posture power-assisted mode, lying posture mode, lying posture power-assisted mode, and transport mode; Start the operation according to the operation mode; if in the toilet mode, transfer mode, sitting posture mode, sitting posture mode, the wheelchair operation mode is a non-powered mode; If turning in situ is performed, the wheelchair is in a non-powered operating state.

10. The control method according to claim 9, characterized in that, When the wheelchair is in a non-powered state, the power conversion push rod is in a retracted state, and the rear universal wheel is in contact with the ground; When the wheelchair is in the power-assisted mode, the power conversion push rod is in an extended state, and the power wheel is in contact with the ground.

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