Sitting and standing self-locking type continuous posture changing wheelchair mechanism

Abstract

The invention discloses a sitting and standing self-locking type continuous posture changing wheelchair mechanism which comprises a back seat adjusting structure, a horizontal armrest structure, a double-crank linkage structure, a dynamic parallel four-rod structure, a leg seat adjusting structure, a posture changing driving structure, a chassis, front wheels, rear wheels, a first support and a second support. A single-drive multi-state conversion module is integrated. A single motor is adopted to drive a double-crank linkage structure and a dynamic parallel four-bar structure through a belt wheel, a mechanism transmission chain is reduced, and energy consumption is reduced. Meanwhile, the posture conversion function is integrated into the dynamic parallel four-bar structure, the dynamic parallel four-bar structure drives two transmission links of the back seat adjusting mechanism and the leg seat adjusting mechanism at the same time, no extra posture conversion assembly is needed, the weight of the whole machine is remarkably reduced, and continuous angle conversion of the leg plate, the seat plate and the back plate during folding and lying state conversion is achieved.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation robots, in particular to a sit-stand self-locking continuous posture change wheelchair mechanism. Background Art

[0002] Currently, traditional wheelchairs, due to outdated design concepts, are unable to meet the complex needs of users for daily mobility, body adjustment, and safety protection, becoming a significant factor affecting the quality of life of the elderly and disabled groups. As medical care and living standards continue to improve, the demands of the elderly for their later years are also increasing. The issue of elderly care has become increasingly prominent and has become a major social issue facing my country.

[0003] Currently, most multi-posture wheelchairs on the market use a split-drive design. The stacking of multiple power modules not only makes the equipment bulky and not smooth to operate, but also requires users to repeatedly coordinate the operating rhythm of different components when switching postures. The redundancy of this mechanical structure makes it difficult to achieve lightweighting of the equipment. More importantly, existing products lack a reliable automatic locking design during the backboard angle adjustment process. Especially in critical states such as when the backboard is upright, the system cannot autonomously lock the position according to the change in force, posing a risk of accidental displacement or angle offset. Wear of components after long-term use will further aggravate safety hazards. These design flaws force users to compromise between safety, ease of operation, and posture freedom, seriously affecting the reliability and adaptability of the product in real-world usage scenarios.

[0004] Document No. 202221940488.2 discloses a wheelchair with a posture-changing function. This wheelchair utilizes a structure in which the seat rotation component and the posture-changing component are separately driven to achieve sitting-to-standing switching. However, the multi-component, step-by-step drive system results in a lengthy transmission chain and high energy consumption. The transfer mechanism is prone to cumulative errors in backboard angle adjustment, making it difficult to meet the requirements for precise posture control. Furthermore, the wheelchair's functionality is limited to sitting-to-standing switching, lacking the ability to coordinate back and leg panel adjustments. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a sit-stand self-locking continuous posture change wheelchair mechanism.

[0006] The technical solution of the present invention to solve the above technical problems is to provide a sit-stand self-locking continuous posture change wheelchair mechanism, characterized in that the wheelchair mechanism includes a backrest adjustment structure, a horizontal armrest structure, a double crank linkage structure, a dynamic parallelogram structure, a legrest adjustment structure, a posture change drive structure, a chassis, front wheels, rear wheels, a first bracket, and a second bracket;

[0007] The rear wheel is rotatably mounted on the rear part of the chassis, the front wheel is rotatably mounted on the front part of the chassis, and the first bracket and the second bracket are fixed on the chassis;

[0008] The backrest adjustment structure includes a backrest, a backrest fixing rod, an upper backrest limit block, a backrest guide rod, a backrest slider, a backrest seat linkage rod, a lower backrest limit block, a backrest pry bar, a pry bar linkage rod connecting rod, a seat plate guide rod, a pry bar seat plate slider connecting rod, a linkage rod stepped shaft 1, a seat plate slider, a seat plate right limit block, a pry bar driving rod, a seat plate fixing rod, a seat plate left limit block, a seat plate, a seat plate bracket 1 and a seat plate bracket 2;

[0009] The horizontal handrail structure includes a handrail rod, a handrail slider, a handrail support rod, an upper synchronous pulley, a lower synchronous pulley, a synchronous belt, and a linkage rod stepped shaft 2;

[0010] The double crank linkage structure includes a crank linkage limit block 1, a crank linkage slider, a lower crank fixed shaft, a lower crank linkage rod, a lower crank, a lower connecting rod, a lower connecting rod connecting shaft, a triangular limit structure connecting shaft 1, a triangular limit structure connecting shaft 2, a triangular limit structure, an upper connecting rod, an upper crank, an upper crank linkage rod driving shaft, an upper crank linkage rod, a lower crank linkage rod driving shaft, a crank linkage limit block 2 and a crank linkage guide rod;

[0011] The dynamic parallelogram structure includes an upper quadrilateral left rod, a lower quadrilateral left rod, a left angle iron, an upper and lower quadrilateral connecting rod, a right angle iron, a lower quadrilateral right rod, an upper quadrilateral right rod, an upper quadrilateral upper limit block, an upper quadrilateral lower limit block, an upper quadrilateral guide rod, and an upper quadrilateral slider;

[0012] The leg seat adjustment structure includes a leg plate driving rod, a seat plate and leg plate linkage rod, a leg plate slider, a leg plate upper limit block, a leg plate guide rod, a leg plate lower limit block, a leg plate fixing rod and a leg plate;

[0013] The posture change drive structure includes a small pulley, a transmission belt, a large pulley, a motor and a crank drive shaft;

[0014] The crank drive shaft is rotatably mounted on the bracket; the small pulley is fixed on the crank drive shaft; the motor housing is fixed to the chassis through the support base, and a large pulley is fixed to the output end; the small pulley is connected to the large pulley through a transmission belt;

[0015] The two ends of the crank drive shaft are respectively fixedly connected to one end of their respective upper cranks; the other end of each upper crank is hinged to one end of their respective upper connecting rods; the other end of each upper connecting rod is rotatably connected to one bottom angle end of their respective triangular limiting structures; the top angle end of each triangular limiting structure is rotatably mounted on their respective brackets 2 via the triangular limiting structure connecting shaft 2; the other bottom angle end of each triangular limiting structure is rotatably connected to one end of their respective triangular limiting structure connecting shaft 1;

[0016] The middle portion of the upper crank linkage drive shaft is rotatably mounted on one end of the upper crank linkage rod, and both ends are hinged to the middle portions of their respective upper cranks; the other end of the upper crank linkage rod is hinged to the crank linkage slider via the lower crank linkage drive shaft; the crank linkage limit block 1 and the crank linkage limit block 2 are fixed to the chassis; the two ends of the crank linkage guide rod are respectively fixed to the crank linkage limit block 1 and the crank linkage limit block 2; the crank linkage slider is slidably arranged on the crank linkage guide rod and slides along the crank linkage guide rod;

[0017] One end of each lower crank linkage rod is rotatably mounted on both sides of the crank linkage slider via the lower crank linkage rod drive shaft; the other end of each lower crank linkage rod is hinged to the middle portion of its respective lower crank; one end of each lower crank is rotatably mounted on the chassis via the two ends of the lower crank fixing shaft, and the other end is hinged to one end of its respective lower connecting rod; the other end of each lower connecting rod is rotatably connected to one end of its respective lower connecting rod connecting shaft;

[0018] The two left angle irons and the two right angle irons are fixed to the chassis; one end of the two lower quadrilateral left rods is hinged to the respective left angle irons; the other end of each lower connecting rod connecting shaft is rotatably mounted on the middle part of the respective lower quadrilateral left rod; one end of the two lower quadrilateral right rods is hinged to the respective right angle irons; the two upper and lower quadrilateral connecting rods are respectively hinged to the other end of the respective lower quadrilateral left rod and the other end of the lower quadrilateral right rod;

[0019] One end of the two upper quadrilateral left side rods is hinged to the other end of their respective lower quadrilateral left side rods; the two ends of the upper quadrilateral guide rod are fixed to the upper quadrilateral left side rod through the upper quadrilateral upper limit block and the upper quadrilateral lower limit block; the upper quadrilateral slider is slidably arranged on the upper quadrilateral guide rod and slides between the upper quadrilateral upper limit block and the upper quadrilateral lower limit block; the other end of each triangular limiting structure connecting shaft is rotatably mounted in its respective upper quadrilateral slider; one end of the two pry bar driving rods is hinged to the middle part of their respective upper quadrilateral left side rods;

[0020] One end of the right side rod of the upper quadrilateral is hinged to the other end of the right side rod of the respective lower quadrilateral; one end of the two leg plate driving rods is hinged to the middle part of the right side rod of the respective upper quadrilateral;

[0021] The two sides of the back panel are fixed to the two back panel fixing rods; the two sides of the seat panel are fixed to the two seat panel fixing rods; the two seat panel brackets 1 and the two seat panel brackets 2 are fixed to the lower part of the seat panel fixing rods; one end of the two seat panel brackets 1 is hinged to the other end of the left side rod of their respective upper quadrilaterals; the other end of the two seat panel brackets 2 is hinged to the other end of the right side rod of their respective upper quadrilaterals;

[0022] On one side of the backrest adjustment structure, the two ends of the seat plate guide rod are fixed to the seat plate fixing rod through the seat plate right limit block and the seat plate left limit block; the seat plate slider is slidably arranged on the seat plate guide rod, and slides between the seat plate right limit block and the seat plate left limit block; the outer ring of the shaft section one of the linkage rod step shaft one is rotatably installed in the seat plate slider, and one end of the pry bar seat plate slider connecting rod is rotatably installed on the outer ring of the shaft section one of the linkage rod step shaft one; the other end of the pry bar seat plate slider connecting rod is hinged to the lower part of the back plate pry bar; one end of the back plate seat plate linkage rod is fixed to the linkage rod On the outer ring of the shaft section 2 of the stepped shaft 1; one end of the backboard pry bar is hinged to the other end of the pry bar driving rod, and the other end is hinged to the bottom end of the backboard fixing rod; the two ends of the backboard guide rod are fixed to the backboard fixing rod through the upper backboard limit block and the lower backboard limit block; the backboard slider is slidably set on the backboard guide rod and slides between the upper backboard limit block and the lower backboard limit block; the other end of the backboard seat plate linkage rod is rotatably installed in the backboard slider; one end of the pry bar linkage rod connecting rod is hinged to the upper part of the backboard pry bar, and the other end is hinged to the lower part of the backboard seat plate linkage rod;

[0023] On one side of the backrest adjustment structure, one end of the armrest rod is hinged to the upper part of the back plate seat plate linkage rod; the armrest slider is slidably arranged on the armrest rod; one end of the armrest support rod is rotatably mounted on the armrest slider; the outer ring of the shaft segment one of the linkage rod step shaft 2 is rotatably mounted on the middle part of the back plate seat plate linkage rod, and the axis of the upper synchronous pulley is fixed to the outer ring of the shaft segment two of the linkage rod step shaft 2; the other end of the armrest support rod is fixed to the outer ring of the shaft segment two of the linkage rod step shaft 2; the axis of the lower synchronous pulley is fixed to the outer ring of the shaft segment two of the linkage rod step shaft 1; the upper synchronous pulley and the lower synchronous pulley are synchronously connected through a synchronous belt;

[0024] One end of the two leg plate fixing rods is respectively hinged to the end of their respective seat plate fixing rods; both sides of the leg plate are fixed to the two leg plate fixing rods; on one side of the leg seat adjustment structure, both ends of the leg plate guide rod are fixed to the leg plate fixing rod through the leg plate upper limit block and the leg plate lower limit block; the leg plate slider is slidably set on the leg plate guide rod, and slides between the leg plate upper limit block and the leg plate lower limit block; one end of the seat plate and leg plate linkage rod is hinged to the lower part of the seat plate fixing rod, and the other end is rotatably installed on the leg plate slider; the other end of the leg plate driving rod is hinged to the middle part of the seat plate and leg plate linkage rod.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention integrates a single-drive multi-state conversion module. The present invention uses a single motor to drive a double crank linkage structure and a dynamic parallelogram structure through a pulley, thereby reducing the transmission chain of the mechanism and lowering energy consumption. At the same time, the present invention integrates the posture change function into the dynamic parallelogram structure, which simultaneously drives the two transmission links of the backrest adjustment mechanism and the legrest adjustment mechanism. No additional posture change components are required, which significantly reduces the weight of the entire machine and realizes continuous angle change of the leg plate, seat plate and back plate when changing from folding state to lying state.

[0027] (2) The present invention integrates a dead point interlocking module, and adopts a double crank linkage structure in which the upper and lower cranks and the connecting rod are in a collinear manner to achieve locking in a specific position in a sitting position. At the same time, the double crank rocker mechanism and the double parallelogram mechanism are combined in pairs to solve the problem that a single crank rocker mechanism can be locked but cannot move forward at the extreme position. When the motor drives the upper crank to continue to rotate, the upper and lower parallelogram mechanisms generate an angle difference in rotation, thereby achieving the further transformation from a sitting position to a lying position by crossing the dead point position.

[0028] (3) The present invention integrates a geometric constraint safety structure: on the one hand, in the sitting state, the mechanical self-locking characteristics of the double crank linkage structure at the dead point position are used to lock the entire mechanism; on the other hand, in the folding state and lying state, the movement trajectory of the slider is constrained by the limit blocks and guide rods on the back plate fixing rod, seat plate fixing rod, and leg plate fixing rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is an axonometric diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic front view of the overall structure of the present invention in the sitting or standing state;

[0031] Figure 3 It is a front view schematic diagram of the entire structure of the present invention in the sitting state after removing one rear wheel;

[0032] Figure 4 It is a schematic front view of the overall structure of the present invention in a folded state;

[0033] Figure 5 This is a schematic front view of the overall structure of the present invention in a lying state;

[0034] Figure 6 It is a partial axonometric diagram of the back seat adjustment structure of the present invention;

[0035] Figure 7 A partial exploded view of the back seat adjustment structure of the present invention;

[0036] Figure 8 This is a schematic diagram of the installation axonometric view of the horizontal handrail structure of the present invention;

[0037] Figure 9 It is a partial exploded view of the horizontal handrail structure of the present invention;

[0038] Figure 10 It is a partial axonometric diagram of the double crank linkage structure of the present invention;

[0039] Figure 11 It is a partial exploded view of the double crank linkage structure of the present invention;

[0040] Figure 12 This is a schematic axonometric diagram of the overall structure of the dynamic parallel four-bar structure of the present invention;

[0041] Figure 13 This is a schematic diagram of the installation axonometric view of the leg seat adjustment structure of the present invention;

[0042] Figure 14 This is a schematic diagram of the installation of the posture change drive structure of the present invention;

[0043] Figure 15 Schematic diagram of the installation of the chassis of the present invention.

[0044] In the figure, the backrest adjustment structure 1, the horizontal armrest structure 2, the double crank linkage structure 3, the dynamic parallelogram structure 4, the legrest adjustment structure 5, the posture change drive structure 6, the chassis 7, the front wheel 8, the rear wheel 9, the bracket 1 10, and the bracket 2 11;

[0045] Back panel 1-1, back panel fixing rod 1-2, upper back panel limit block 1-3, back panel guide rod 1-4, back panel slider 1-5, back panel-seat panel linkage rod 1-6, lower back panel limit block 1-7, back panel pry bar 1-8, pry bar-linkage rod connecting rod 1-9, seat panel guide rod 1-10, pry bar-seat panel slider connecting rod 1-11, linkage rod stepped shaft 1-12, seat panel slider 1-13, seat panel right limit block 1-14, pry bar connecting shaft 1-15, pry bar driving rod 1-16, seat panel fixing rod 1-17, seat panel left limit block 1-18, seat panel 1-19, seat panel bracket 1-20, seat panel bracket 2 1-21;

[0046] Handrail rod 2-1, handrail slider 2-2, handrail support rod 2-3, upper synchronous pulley 2-4, lower synchronous pulley 2-5, synchronous belt 2-6, linkage rod stepped shaft 2-7;

[0047] Crank linkage limit block 1 3-1, crank linkage slider 3-2, lower crank fixed shaft 3-3, lower crank linkage rod 3-4, lower crank 3-5, lower connecting rod 3-6, lower connecting rod connecting shaft 3-7, triangular limit structure connecting shaft 1 3-8, triangular limit structure connecting shaft 2 3-9, triangular limit structure 3-10, upper connecting rod 3-11, upper crank 3-12, upper crank linkage rod drive shaft 3-13, upper crank linkage rod 3-14, lower crank linkage rod drive shaft 3-15, crank linkage limit block 2 3-16, crank linkage guide rod 3-17, triangular limit structure connecting shaft 3 3-18;

[0048] Upper quadrilateral left side rod 4-1, lower quadrilateral left side rod 4-2, left angle iron 4-3, upper and lower quadrilateral connecting rod 4-4, right angle iron 4-5, lower quadrilateral right side rod 4-6, upper quadrilateral right side rod 4-7, quadrilateral connecting shaft 1 4-8, upper quadrilateral upper limit block 4-9, upper quadrilateral lower limit block 4-10, upper quadrilateral guide rod 4-11, quadrilateral connecting shaft 2 4-12, upper quadrilateral slider 4-13;

[0049] Leg plate driving rod 5-1, seat plate-leg plate linkage rod 5-2, leg plate slider 5-3, leg plate upper limit block 5-4, leg plate guide rod 5-5, leg plate lower limit block 5-6, leg plate fixing rod 5-7, leg plate 5-8, seat plate connecting shaft 5-9;

[0050] Small pulley 6-1, transmission belt 6-2, large pulley 6-3, motor 6-4, crank drive shaft 6-5. DETAILED DESCRIPTION

[0051] The specific embodiments of the present invention are given below. The specific embodiments are only used to further illustrate the present invention and do not limit the scope of protection of the present invention.

[0052] The present invention provides a sit-stand self-locking continuous posture change wheelchair mechanism (referred to as wheelchair mechanism), characterized in that the wheelchair mechanism includes a backrest adjustment structure 1, a horizontal armrest structure 2, a double crank linkage structure 3, a dynamic parallelogram structure 4, a legrest adjustment structure 5, a posture change drive structure 6, a chassis 7, front wheels 8, rear wheels 9, a first bracket 10, and a second bracket 11;

[0053] The rear wheel 9 is rotatably mounted on the rear portion of the chassis 7, and the front wheel 8 is rotatably mounted on the front portion of the chassis 7. The first bracket 10 and the second bracket 11 are both welded and fixed to the chassis 7;

[0054] The backrest adjustment structure 1 includes a back plate 1-1, a back plate fixing rod 1-2, an upper back plate limit block 1-3, a back plate guide rod 1-4, a back plate slider 1-5, a back plate-seat plate linkage rod 1-6, a lower back plate limit block 1-7, a back plate pry bar 1-8, a pry bar-linkage rod connecting rod 1-9, a seat plate guide rod 1-10, a pry bar-seat plate slider connecting rod 1-11, a linkage rod stepped shaft 1-12, a seat plate slider 1-13, a seat plate right limit block 1-14, a pry bar driving rod 1-16, a seat plate fixing rod 1-17, a seat plate left limit block 1-18, a seat plate 1-19, a seat plate bracket 1-20, and a seat plate bracket 2 1-21;

[0055] The horizontal handrail structure 2 includes a handrail rod 2-1, a handrail slider 2-2, a handrail support rod 2-3, an upper synchronous pulley 2-4, a lower synchronous pulley 2-5, a synchronous belt 2-6, and a linkage rod stepped shaft 2-7;

[0056] The double crank linkage structure 3 includes a crank linkage limit block 1 3-1, a crank linkage slider 3-2, a lower crank fixed shaft 3-3, a lower crank linkage rod 3-4, a lower crank 3-5, a lower connecting rod 3-6, a lower connecting rod connecting shaft 3-7, a triangular limit structure connecting shaft 1 3-8, a triangular limit structure connecting shaft 2 3-9, a triangular limit structure 3-10, an upper connecting rod 3-11, an upper crank 3-12, an upper crank linkage rod driving shaft 3-13, an upper crank linkage rod 3-14, a lower crank linkage rod driving shaft 3-15, a crank linkage limit block 2 3-16, and a crank linkage guide rod 3-17.

[0057] The dynamic parallelogram structure 4 includes an upper quadrilateral left side bar 4-1, a lower quadrilateral left side bar 4-2, a left angle iron 4-3, an upper and lower quadrilateral connecting bar 4-4, a right angle iron 4-5, a lower quadrilateral right side bar 4-6, an upper quadrilateral right side bar 4-7, an upper quadrilateral upper limit block 4-9, an upper quadrilateral lower limit block 4-10, an upper quadrilateral guide rod 4-11, and an upper quadrilateral slider 4-13.

[0058] The leg seat adjustment structure 5 includes a leg plate driving rod 5-1, a seat plate-leg plate linkage rod 5-2, a leg plate slider 5-3, a leg plate upper limit block 5-4, a leg plate guide rod 5-5, a leg plate lower limit block 5-6, a leg plate fixing rod 5-7 and a leg plate 5-8;

[0059] The posture change drive structure 6 includes a small pulley 6-1, a transmission belt 6-2, a large pulley 6-3, a motor 6-4 and a crank drive shaft 6-5;

[0060] The crank drive shaft 6-5 is rotatably mounted on a bracket 10; the small pulley 6-1 is fixed to the crank drive shaft 6-5 by a key; the housing of the motor 6-4 is fixed to the chassis 7 by a support seat, and the output end is fixed with a large pulley 6-3 by a key; the small pulley 6-1 is connected to the large pulley 6-3 by a transmission belt 6-2;

[0061] The two ends of the crank drive shaft 6-5 are respectively fixedly connected to one end of their respective upper cranks 3-12; the other end of each upper crank 3-12 is hinged to one end of their respective upper connecting rods 3-11; the other end of each upper connecting rod 3-11 is rotatably connected to one bottom angle end of their respective triangular limiting structures 3-10; the top angle end of each triangular limiting structure 3-10 is rotatably mounted on their respective brackets 2 11 via triangular limiting structure connecting shaft 2 3-9; the other bottom angle end of each triangular limiting structure 3-10 is rotatably connected to one end of their respective triangular limiting structure connecting shaft 1 3-8 via a bearing;

[0062] The middle part of the upper crank linkage drive shaft 3-13 is rotatably mounted on one end of the upper crank linkage rod 3-14, and both ends are hinged to the middle part of their respective upper cranks 3-12; the other end of the upper crank linkage rod 3-14 is hinged to the crank linkage slider 3-2 through the lower crank linkage drive shaft 3-15; the crank linkage limit block 1 3-1 and the crank linkage limit block 2 3-16 are fixed to the chassis 7 by screws; the two ends of the crank linkage guide rod 3-17 are respectively fixed to the crank linkage limit block 1 3-1 and the crank linkage limit block 2 3-16; the crank linkage slider 3-2 is slidably set on the crank linkage guide rod 3-17 and slides along the crank linkage guide rod 3-17;

[0063] One end of each lower crank linkage rod 3-4 is rotatably mounted on both sides of the crank linkage slider 3-2 via a lower crank linkage rod drive shaft 3-15; the other end of each lower crank linkage rod 3-4 is hinged to the middle of its respective lower crank 3-5; one end of each lower crank 3-5 is rotatably mounted on the chassis 7 via both ends of the lower crank fixing shaft 3-3, and the other end is hinged to one end of its respective lower connecting rod 3-6; the other end of each lower connecting rod 3-6 is rotatably connected to one end of its respective lower connecting rod connecting shaft 3-7 via a bearing;

[0064] The two left angle irons 4-3 and the two right angle irons 4-5 are welded and fixed to the chassis 7; one end of the two lower quadrilateral left side rods 4-2 is hinged to the respective left angle irons 4-3; the other end of each lower connecting rod connecting shaft 3-7 is rotatably mounted on the middle part of the respective lower quadrilateral left side rod 4-2 through a bearing; one end of the two lower quadrilateral right side rods 4-6 is hinged to the respective right angle irons 4-5; the two ends of the two upper and lower quadrilateral connecting rods 4-4 are respectively hinged to the other end of the respective lower quadrilateral left side rods 4-2 and the other end of the lower quadrilateral right side rods 4-6;

[0065] One end of the two upper quadrilateral left side rods 4-1 is hinged to the other end of their respective lower quadrilateral left side rods 4-2; the two ends of the upper quadrilateral guide rod 4-11 are fixed to the upper quadrilateral left side rod 4-1 through the upper quadrilateral upper limit block 4-9 and the upper quadrilateral lower limit block 4-10; the upper quadrilateral slider 4-13 is slidably arranged on the upper quadrilateral guide rod 4-11 and slides between the upper quadrilateral upper limit block 4-9 and the upper quadrilateral lower limit block 4-10; the other end of each triangular limiting structure connecting shaft 3-8 is rotatably mounted in the respective upper quadrilateral slider 4-13 through a bearing; one end of the two pry bar driving rods 1-16 is hinged to the middle part of their respective upper quadrilateral left side rods 4-1;

[0066] One end of the upper quadrilateral right rod 4-7 is hinged to the other end of the respective lower quadrilateral right rod 4-6; one end of the two leg plate driving rods 5-1 is hinged to the middle of the respective upper quadrilateral right rod 4-7;

[0067] The two sides of the back panel 1-1 are fixed to the two back panel fixing rods 1-2; the two sides of the seat panel 1-19 are fixed to the two seat panel fixing rods 1-17; the two seat panel brackets 1-20 and the two seat panel brackets 2 1-21 are welded and fixed to the lower part of the seat panel fixing rod 1-17; one end of the two seat panel brackets 1-20 is hinged to the other end of the respective upper quadrilateral left side rods 4-1; the other end of the two seat panel brackets 2 1-21 is hinged to the other end of the respective upper quadrilateral right side rods 4-7;

[0068] On one side of the back seat adjustment structure 1 (i.e., on one seat plate fixing rod 1-17), both ends of the seat plate guide rod 1-10 are fixed to the seat plate fixing rod 1-17 through the seat plate right limit block 1-14 and the seat plate left limit block 1-18; the seat plate slider 1-13 is slidably set on the seat plate guide rod 1-10, and slides between the seat plate right limit block 1-14 and the seat plate left limit block 1-18; the outer ring of the shaft section 1 of the linkage rod stepped shaft 1-12 is rotatably installed in the seat plate slider 1-13, and one end of the pry bar-seat plate slider connecting rod 1-11 is rotatably installed on the outer ring of the shaft section 1 of the linkage rod stepped shaft 1-12; the other end of the pry bar-seat plate slider connecting rod 1-11 is hinged to the lower part of the back plate pry bar 1-8; the back plate-seat plate linkage rod 1-6 One end of the back panel is fixed to the outer ring of the second shaft section of the linkage rod stepped shaft 1-12 by a key; one end of the back panel pry bar 1-8 is hinged to the other end of the pry bar driving rod 1-16, and the other end is hinged to the bottom end of the back panel fixing rod 1-2; the two ends of the back panel guide rod 1-4 are fixed to the back panel fixing rod 1-2 through the upper back panel limit block 1-3 and the lower back panel limit block 1-7; the back panel slider 1-5 is slidably arranged on the back panel guide rod 1-4, and slides between the upper back panel limit block 1-3 and the lower back panel limit block 1-7; the other end of the back panel-seat panel linkage rod 1-6 is rotatably installed in the back panel slider 1-5; one end of the pry bar-linkage rod connecting rod 1-9 is hinged to the upper part of the back panel pry bar 1-8, and the other end is hinged to the lower part of the back panel-seat panel linkage rod 1-6;

[0069] On one side of the backrest adjustment structure 1, one end of the armrest rod 2-1 is hinged to the upper part of the backboard-seat plate linkage rod 1-6; the armrest slider 2-2 is slidably set on the armrest rod 2-1; one end of the armrest support rod 2-3 is rotatably installed on the armrest slider 2-2 through a connecting shaft; the outer ring of the shaft segment one of the linkage rod step shaft 2-7 is rotatably installed on the middle part of the backboard-seat plate linkage rod 1-6, and the axis of the upper synchronous pulley 2-4 is fixed to the outer ring of the shaft segment two of the linkage rod step shaft 2-7 through a key; the other end of the armrest support rod 2-3 is fixed to the outer ring of the shaft segment two of the linkage rod step shaft 2-7 through a key; the axis of the lower synchronous pulley 2-5 is fixed to the outer ring of the shaft segment two of the linkage rod step shaft 1-12 through a key; the upper synchronous pulley 2-4 and the lower synchronous pulley 2-5 are synchronously connected through a synchronous belt 2-6;

[0070] One end of the two leg plate fixing rods 5-7 are respectively hinged to the end of their respective seat plate fixing rods 1-17; both sides of the leg plate 5-8 are fixed to the two leg plate fixing rods 5-7; on one side of the leg seat adjustment structure 5 (i.e., one leg plate fixing rod 5-7), both ends of the leg plate guide rod 5-5 are fixed to the leg plate fixing rod 5-7 through the leg plate upper limit block 5-4 and the leg plate lower limit block 5-6; the leg plate slider 5-3 is slidably set on the leg plate guide rod 5-5, and slides between the leg plate upper limit block 5-4 and the leg plate lower limit block 5-6; one end of the seat plate-leg plate linkage rod 5-2 is hinged to the lower part of the seat plate fixing rod 1-17, and the other end is rotatably installed on the leg plate slider 5-3 through a connecting shaft; the other end of the leg plate driving rod 5-1 is hinged to the middle part of the seat plate-leg plate linkage rod 5-2.

[0071] Preferably, the front wheels 8 are universal wheels.

[0072] Preferably, a motor is installed on the rear wheel 9 to provide power for the movement of the wheelchair mechanism.

[0073] Preferably, the double crank linkage structure 3 also includes a triangular limiting structure connecting shaft three 3-18; the two ends of the triangular limiting structure connecting shaft three 3-18 serve as the hinge ends of the two groups of upper connecting rods 3-11 and the triangular limiting structure 3-10, and play a reinforcing role.

[0074] Preferably, the chassis 7 corresponding to the lower crank linkage rod 3-4, the lower crank 3-5 and the lower connecting rod 3-6 is hollowed out so as not to interfere with the movement of the lower crank linkage rod 3-4, the lower crank 3-5 and the lower connecting rod 3-6.

[0075] Preferably, the dynamic parallelepiped structure 4 further includes a quadrilateral connecting shaft 1 4-8; both ends of the quadrilateral connecting shaft 1 4-8 serve as hinge ends of the two groups of upper quadrilateral right side rods 4-7 and the seat plate bracket 2 1-21, and play a reinforcing role.

[0076] Preferably, the dynamic parallelepiped structure 4 further includes a quadrilateral connecting shaft 2 4-12; both ends of the quadrilateral connecting shaft 2 4-12 serve as hinge ends of the two groups of upper quadrilateral left side rods 4-1 and the seat plate bracket 1-20, and play a reinforcing role.

[0077] Preferably, the backrest adjustment structure 1 further includes a pry bar connecting shaft 1-15; both ends of the pry bar connecting shaft 1-15 serve as hinged ends of two groups of backboard pry bars 1-8 and pry bar driving rods 1-16, and play a reinforcing role.

[0078] Preferably, the leg support adjustment structure 5 also includes a seat plate connecting shaft 5-9; the two ends of the seat plate connecting shaft 5-9 serve as the hinge ends of the two groups of seat plate fixing rods 1-17 and the leg plate fixing rods 5-7, and play a reinforcing role.

[0079] The working principle and workflow of the present invention are:

[0080] When in use, the entire wheelchair is moved by rotating the rear wheels 9;

[0081] The folded state is converted to the upright state: the motor 6-4 drives the large pulley 6-3 to rotate, which drives the small pulley 6-1 through the transmission belt 6-2, and then drives the upper crank 3-12 to rotate. In the lower half of the double crank linkage structure 3, the upper crank 3-12 drives the upper crank linkage rod 3-14 through the upper crank linkage rod drive shaft 3-13, and the crank linkage slider 3-2 slides along the crank linkage guide rod 3-17. The crank linkage slider 3-2 is linked to the lower crank linkage rod 3-4 through the lower crank linkage rod drive shaft 3-15. The lower crank linkage rod 3-4 drives the lower crank 3-5 to rotate. The lower crank 3-5 drives the lower connecting rod 3-6 to move. The lower connecting rod 3-6 is connected to the lower quadrilateral left rod 4-2 through the lower connecting rod connecting shaft 3-7, and drives the dynamic parallel four-bar structure through the lower quadrilateral left rod 4-2. While the lower half of the structure 4 moves, the upper crank 3-12 of the upper half of the double crank linkage structure 3 drives the upper connecting rod 3-11 to rotate, and the upper connecting rod 3-11 drives the triangular limiting structure 3-10 to rotate around the triangular limiting structure connecting shaft 2 3-9, thereby driving the triangular limiting structure connecting shaft 1 3-8 to move, and the triangular limiting structure connecting shaft 1 3-8 transmits power to the upper quadrilateral slider 4-13, and the upper quadrilateral slider 4-13 slides along the upper quadrilateral guide rod 4-11 while driving the rotation of the upper quadrilateral left rod 4-1, thereby driving the movement of the upper half of the dynamic parallelogram structure 4. The left side rod 4-1 of the upper quadrilateral drives the pry bar driving rod 1-16 to move. The pry bar driving rod 1-16 lifts the back panel pry bar 1-8, drives the seat panel slider 1-13 to slide along the seat panel guide rod 1-10 via the pry bar-seat panel slider connecting rod 1-11, and the seat panel slider 1-13 drives the back panel slider 1-5 to slide via the back panel-seat panel linkage rod 1-6, driving the back panel 1-1 to rotate to an upright position. The right side rod 4-7 of the upper quadrilateral drives the leg panel driving rod 5-1 to move. The leg panel driving rod 5-1 lifts the seat panel-leg panel linkage rod 5-2. The seat panel-leg panel linkage rod 5-2 drives the leg panel slider 5-3 to slide along the leg panel guide rod 5-5. The leg panel slider 5-3 drives the leg panel fixing rod 5-7 to rotate around the seat panel connecting shaft 5-9, unfolding the leg panel 5-8. In addition, the angle change between the back plate-seat plate linkage rod 1-6 and the seat plate slider 1-13 is transmitted to the lower synchronous pulley 2-5 through the linkage rod stepped shaft 1-12, and the upper synchronous pulley 2-4 is driven to rotate through the synchronous belt 2-6, and the armrest support rod 2-3 is driven to rotate through the linkage rod stepped shaft 2-7, which drives the armrest slider 2-2 to move along the armrest rod 2-1, so that the armrest rod 2-1 remains horizontal during the posture change.

[0082] The transmission route from the upright state to the folded state is the same as that from the folded state to the upright state, except that: the motor 6-4 rotates in the opposite direction, the pry bar drive rod 1-16 pulls down the back panel pry bar 1-8, and the leg panel drive rod 5-1 pulls down the seat panel-leg panel linkage rod 5-2.

[0083] Locking stage: Motor 6-4 is locked when the two crank rocker mechanisms reach the dead center position. In the upper half of the double crank linkage structure 3, the upper crank 3-12 drives the upper connecting rod 3-11 to drive the triangular limiting structure 3-10 to rotate about the axis. When the upper crank 3-12 and the upper connecting rod 3-11 reach the dead center, the bottom surface of the triangular limiting structure 3-10 is collinear with the bottom surface of the upper connecting rod 3-11, and the upper connecting rod 3-11 is perpendicular to the left side rod 4-1 of the upper quadrilateral. The upper quadrilateral composed of the left side rod 4-1 of the upper quadrilateral, the seat plate fixing rod 1-17, and the right side rod 4-7 of the upper quadrilateral in the dynamic parallelogram structure 4 is locked by the triangular limiting structure 3-10. Lower crank 3-5 drives lower connecting rod 3-6, which connects to lower quadrilateral left side rod 4-2 via lower connecting rod connecting shaft 3-7. When lower crank 3-5 and lower connecting rod 3-6 reach dead center, lower quadrilateral left side rod 4-2 of dynamic parallelogram 4 is fixed by lower connecting rod connecting shaft 3-7, thereby locking the lower quadrilateral consisting of lower quadrilateral left side rod 4-2, upper and lower quadrilateral connecting rods 4-4, and lower quadrilateral right side rod 4-6. Locking the upper and lower quadrilaterals indirectly locks backrest adjustment mechanism 1, horizontal armrest mechanism 2, and legrest adjustment mechanism 5, achieving posture locking.

[0084] To transition from the upright position to the flat position, motor 6-4 continues to drive the upper crank 3-12 of the upper crank rocker, driving the lower crank 3-5 to unlock the upper and lower crank rocker structures of the dual crank linkage 3. The dynamic parallelepiped structure 4 controls the various adjustment structures based on the rotational difference between the upper and lower quadrilaterals. Because the triangular limit structure 3-10 drives the left side rod 4-1 of the upper quadrilateral to rotate at a greater angle than the left side rod 4-2 of the lower crank rocker structure, the dead center position is exceeded. In the backrest adjustment structure 1, the pry bar-seat panel slider connecting rod 1-11 drives the seat panel slider 1-13 to slide, and the pry bar-linking connecting rod 1-9 limits the relative rotation of the back panel 1-1 and the seat panel 1-19. The upper quadrilateral left side rod 4-1 pulls the back panel-seat panel linkage rod 1-6 through the pry bar-seat panel slider connecting rod 1-11, driving the back panel 1-1 to continue rotating. The upper quadrilateral right side rod 4-7 drives the seat panel-leg panel linkage rod 5-2 through the leg panel driving rod 5-1. The seat panel-leg panel linkage rod 5-2 drives the leg panel slider 5-3 to slide, driving the leg panel fixing rod 5-7 to rotate, and further unfolding the leg panel 5-8. Until the back panel slider 1-5 reaches the position of the upper back panel limit block 1-3, the lying position is locked.

[0085] The transmission route from the lying flat state to the sitting upright state is the same as that from the sitting upright state to the lying flat state, except that the rotation direction of the motor 6-4 is opposite.

[0086] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A sit-stand self-locking continuous posture change wheelchair mechanism, characterized in that: The wheelchair mechanism comprises a backrest adjustment structure (1), a horizontal armrest structure (2), a double crank linkage structure (3), a dynamic parallelepiped structure (4), a legrest adjustment structure (5), a posture change drive structure (6), a chassis (7), front wheels (8), rear wheels (9), a first bracket (10), and a second bracket (11); The rear wheel (9) is rotatably mounted on the rear portion of the chassis (7), the front wheel (8) is rotatably mounted on the front portion of the chassis (7), and the first bracket (10) and the second bracket (11) are fixed on the chassis (7); The backrest adjustment structure (1) comprises a back plate (1-1), a back plate fixing rod (1-2), an upper back plate limiting block (1-3), a back plate guide rod (1-4), a back plate slider (1-5), a back plate-seat plate linkage rod (1-6), a lower back plate limiting block (1-7), a back plate pry bar (1-8), a pry bar-linkage rod connecting rod (1-9), a seat plate guide rod (1-10), a pry bar-seat plate slider connecting rod (1-11), a linkage rod stepped shaft 1 (1-12), a seat plate slider (1-13), a seat plate right limiting block (1-14), a pry bar driving rod (1-16), a seat plate fixing rod (1-17), a seat plate left limiting block (1-18), a seat plate (1-19), a seat plate bracket 1 (1-20) and a seat plate bracket 2 (1-21); The horizontal handrail structure (2) comprises a handrail rod (2-1), a handrail slider (2-2), a handrail support rod (2-3), an upper synchronous pulley (2-4), a lower synchronous pulley (2-5), a synchronous belt (2-6), and a linkage rod stepped shaft 2 (2-7); The double crank linkage structure (3) comprises a crank linkage limiting block 1 (3-1), a crank linkage slider (3-2), a lower crank fixed shaft (3-3), a lower crank linkage rod (3-4), a lower crank (3-5), a lower connecting rod (3-6), a lower connecting rod connecting shaft (3-7), a triangular limiting structure connecting shaft 1 (3-8), a triangular limiting structure connecting shaft 2 (3-9), a triangular limiting structure (3-10), an upper connecting rod (3-11), an upper crank (3-12), an upper crank linkage rod driving shaft (3-13), an upper crank linkage rod (3-14), a lower crank linkage rod driving shaft (3-15), a crank linkage limiting block 2 (3-16) and a crank linkage guide rod (3-17); The dynamic parallelogram structure (4) comprises an upper quadrilateral left side rod (4-1), a lower quadrilateral left side rod (4-2), a left angle iron (4-3), an upper and lower quadrilateral connecting rod (4-4), a right angle iron (4-5), a lower quadrilateral right side rod (4-6), an upper quadrilateral right side rod (4-7), an upper quadrilateral upper limit block (4-9), an upper quadrilateral lower limit block (4-10), an upper quadrilateral guide rod (4-11) and an upper quadrilateral slider (4-13); The leg seat adjustment structure (5) comprises a leg plate driving rod (5-1), a seat plate-leg plate linkage rod (5-2), a leg plate slider (5-3), a leg plate upper limit block (5-4), a leg plate guide rod (5-5), a leg plate lower limit block (5-6), a leg plate fixing rod (5-7) and a leg plate (5-8); The posture change driving structure (6) includes a small pulley (6-1), a transmission belt (6-2), a large pulley (6-3), a motor (6-4) and a crank drive shaft (6-5); The crank drive shaft (6-5) is rotatably mounted on a bracket (10); the small pulley (6-1) is fixed on the crank drive shaft (6-5); the housing of the motor (6-4) is fixed to the chassis (7) through a support seat, and a large pulley (6-3) is fixed to the output end; the small pulley (6-1) is connected to the large pulley (6-3) through a transmission belt (6-2); The two ends of the crank drive shaft (6-5) are respectively fixedly connected to one end of the respective upper crank (3-12); the other end of each upper crank (3-12) is hinged to one end of the respective upper connecting rod (3-11); the other end of each upper connecting rod (3-11) is rotatably connected to a bottom angle end of the respective triangular limiting structure (3-10); the top angle end of each triangular limiting structure (3-10) is rotatably mounted on the respective bracket 2 (11) via the triangular limiting structure connecting shaft 2 (3-9); the other bottom angle end of each triangular limiting structure (3-10) is rotatably connected to one end of the respective triangular limiting structure connecting shaft 1 (3-8); The middle part of the upper crank linkage rod drive shaft (3-13) is rotatably mounted on one end of the upper crank linkage rod (3-14), and both ends are hinged to the middle parts of their respective upper cranks (3-12); the other end of the upper crank linkage rod (3-14) is hinged to the crank linkage slider (3-2) through the lower crank linkage rod drive shaft (3-15); the crank linkage limit block 1 (3-1) and the crank linkage limit block 2 (3-16) are fixed on the chassis (7); the two ends of the crank linkage guide rod (3-17) are respectively fixed to the crank linkage limit block 1 (3-1) and the crank linkage limit block 2 (3-16); the crank linkage slider (3-2) is slidably arranged on the crank linkage guide rod (3-17) and slides along the crank linkage guide rod (3-17); One end of each of the two lower crank linkage rods (3-4) is rotatably mounted on both sides of the crank linkage slider (3-2) via a lower crank linkage rod drive shaft (3-15); the other end of each lower crank linkage rod (3-4) is hinged to the middle of its respective lower crank (3-5); one end of each of the two lower cranks (3-5) is rotatably mounted on the chassis (7) via both ends of a lower crank fixing shaft (3-3), and the other end is hinged to one end of its respective lower connecting rod (3-6); the other end of each lower connecting rod (3-6) is rotatably connected to one end of its respective lower connecting rod connecting shaft (3-7); Two left angle irons (4-3) and two right angle irons (4-5) are fixed on the chassis (7); one end of the two lower quadrilateral left side rods (4-2) is hinged to the respective left angle irons (4-3); the other end of each lower connecting rod connecting shaft (3-7) is rotatably mounted on the middle part of the respective lower quadrilateral left side rod (4-2); one end of the two lower quadrilateral right side rods (4-6) is hinged to the respective right angle irons (4-5); and the two ends of the two upper and lower quadrilateral connecting rods (4-4) are respectively hinged to the other end of the respective lower quadrilateral left side rod (4-2) and the other end of the lower quadrilateral right side rod (4-6); One end of the two upper quadrilateral left side rods (4-1) is hinged to the other end of the respective lower quadrilateral left side rods (4-2); the two ends of the upper quadrilateral guide rod (4-11) are fixed to the upper quadrilateral left side rod (4-1) through the upper quadrilateral upper limit block (4-9) and the upper quadrilateral lower limit block (4-10); the upper quadrilateral slider (4-13) is slidably arranged on the upper quadrilateral guide rod (4-11) and slides between the upper quadrilateral upper limit block (4-9) and the upper quadrilateral lower limit block (4-10); the other end of each triangular limiting structure connecting shaft (3-8) is rotatably installed in the respective upper quadrilateral slider (4-13); one end of the two pry bar driving rods (1-16) is hinged to the middle part of the respective upper quadrilateral left side rods (4-1); One end of the upper quadrilateral right rod (4-7) is hinged to the other end of the respective lower quadrilateral right rod (4-6); one end of the two leg plate driving rods (5-1) is hinged to the middle of the respective upper quadrilateral right rod (4-7); The two sides of the back panel (1-1) are fixed to the two back panel fixing rods (1-2); the two sides of the seat panel (1-19) are fixed to the two seat panel fixing rods (1-17); the two seat panel brackets (1-20) and the two seat panel brackets (1-21) are fixed to the lower part of the seat panel fixing rod (1-17); one end of the two seat panel brackets (1-20) is hinged to the other end of the respective upper quadrilateral left side rods (4-1); the other end of the two seat panel brackets (1-21) is hinged to the other end of the respective upper quadrilateral right side rods (4-7); On one side of the back seat adjustment structure (1), both ends of the seat plate guide rod (1-10) are fixed to the seat plate fixing rod (1-17) through the seat plate right limit block (1-14) and the seat plate left limit block (1-18); the seat plate slider (1-13) is slidably arranged on the seat plate guide rod (1-10) and slides between the seat plate right limit block (1-14) and the seat plate left limit block (1-18); the outer ring of the shaft section 1 of the linkage rod ladder shaft 1 (1-12) is rotatably installed in the seat plate slider (1-13), and one end of the pry bar-seat plate slider connecting rod (1-11) is rotatably installed on the outer ring of the shaft section 1 of the linkage rod ladder shaft 1 (1-12); the other end of the pry bar-seat plate slider connecting rod (1-11) is hinged to the lower part of the back plate pry bar (1-8); one end of the back plate-seat plate linkage rod (1-6) is fixed to the linkage rod On the outer ring of the shaft section 2 of the moving rod stepped shaft 1 (1-12); one end of the backboard pry bar (1-8) is hinged to the other end of the pry bar driving rod (1-16), and the other end is hinged to the bottom end of the backboard fixing rod (1-2); the two ends of the backboard guide rod (1-4) are fixed to the backboard fixing rod (1-2) through the upper backboard limit block (1-3) and the lower backboard limit block (1-7); the backboard slider (1-5) is slidably arranged on the backboard guide rod (1-4) and slides between the upper backboard limit block (1-3) and the lower backboard limit block (1-7); the other end of the backboard-seat plate linkage rod (1-6) is rotatably installed in the backboard slider (1-5); one end of the pry bar-linkage rod connecting rod (1-9) is hinged to the upper part of the backboard pry bar (1-8), and the other end is hinged to the lower part of the backboard-seat plate linkage rod (1-6); On one side of the backrest adjustment structure (1), one end of the handrail rod (2-1) is hinged to the upper part of the backboard-seat plate linkage rod (1-6); the handrail slider (2-2) is slidably arranged on the handrail rod (2-1); one end of the handrail support rod (2-3) is rotatably mounted on the handrail slider (2-2); the outer ring of the shaft section 1 of the linkage rod ladder shaft 2 (2-7) is rotatably mounted on the middle part of the backboard-seat plate linkage rod (1-6), and the upper synchronous pulley The axis of the upper synchronous pulley (2-4) is fixed on the outer ring of the second shaft section of the second step shaft of the linkage rod (2-7); the other end of the handrail support rod (2-3) is fixed on the outer ring of the second shaft section of the second step shaft of the linkage rod (2-7); the axis of the lower synchronous pulley (2-5) is fixed on the outer ring of the second shaft section of the first step shaft of the linkage rod (1-12); the upper synchronous pulley (2-4) and the lower synchronous pulley (2-5) are synchronously connected through a synchronous belt (2-6); One end of the two leg plate fixing rods (5-7) is respectively hinged to the end of the respective seat plate fixing rods (1-17); both sides of the leg plate (5-8) are fixed to the two leg plate fixing rods (5-7); on one side of the leg seat adjustment structure (5), both ends of the leg plate guide rod (5-5) are fixed to the leg plate fixing rod (5-7) through the leg plate upper limit block (5-4) and the leg plate lower limit block (5-6); the leg plate slider (5-3) is slidably arranged on the leg plate guide rod (5-5) and slides between the leg plate upper limit block (5-4) and the leg plate lower limit block (5-6); one end of the seat plate-leg plate linkage rod (5-2) is hinged to the lower part of the seat plate fixing rod (1-17), and the other end is rotatably installed on the leg plate slider (5-3); the other end of the leg plate driving rod (5-1) is hinged to the middle part of the seat plate-leg plate linkage rod (5-2).

2. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The front wheel (8) adopts a universal wheel.

3. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: A motor is installed on the rear wheel (9) for providing power for the movement of the wheelchair mechanism.

4. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The double crank linkage structure (3) further comprises a triangular limiting structure connecting shaft three (3-18); the two ends of the triangular limiting structure connecting shaft three (3-18) respectively serve as hinge ends of two groups of upper connecting rods (3-11) and the triangular limiting structure (3-10), and play a reinforcing role.

5. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The chassis (7) corresponding to the lower crank linkage rod (3-4), the lower crank (3-5) and the lower connecting rod (3-6) is hollowed out.

6. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The dynamic parallelepiped structure (4) further comprises a quadrilateral connecting shaft (4-8); both ends of the quadrilateral connecting shaft (4-8) serve as hinge ends of two groups of upper quadrilateral right side rods (4-7) and seat plate bracket (1-21), and play a reinforcing role.

7. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The dynamic parallelogram structure (4) further comprises a second quadrilateral connecting shaft (4-12); both ends of the second quadrilateral connecting shaft (4-12) serve as hinged ends of two groups of upper quadrilateral left side rods (4-1) and a seat plate bracket (1-20), and play a reinforcing role.

8. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The backrest adjustment structure (1) also includes a pry bar connecting shaft (1-15); both ends of the pry bar connecting shaft (1-15) serve as hinged ends of two groups of backboard pry bars (1-8) and a pry bar driving rod (1-16), and play a reinforcing role.

9. The sit-to-stand self-locking continuous posture change wheelchair mechanism according to claim 1, characterized in that: The leg seat adjustment structure (5) also includes a seat plate connecting shaft (5-9); the two ends of the seat plate connecting shaft (5-9) respectively serve as hinge ends of two groups of seat plate fixing rods (1-17) and leg plate fixing rods (5-7), and play a reinforcing role.

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