Wheel foot type electric wheelchair

Abstract

The invention belongs to the technical field of wheelchairs, and particularly relates to a wheel foot type electric wheelchair which comprises a wheelchair body, and a left front walking device, a right front walking device, a left rear walking device and a right rear walking device are arranged below the wheelchair body. The left front walking device, the right front walking device, the left rear walking device and the right rear walking device each comprise a first driving motor, a first movable arm, a second driving motor, a second movable arm and a walking wheel, one end of each first driving motor is installed on the wheelchair body, and the other end of each first driving motor is connected with the corresponding first movable arm. The first driving motor can drive the first movable arm to rotate relative to the wheelchair body, the second driving motor can drive the second movable arm to rotate relative to the first movable arm, the lower end of the second movable arm is connected with the walking wheels, hub motors are arranged on the walking wheels and can drive the walking wheels to rotate and walk, and a power supply device is further arranged below the wheelchair body. The wheelchair is simple in structure and capable of going up and down stairs so as to better help people with mobility difficulties to walk outside.

Description

Technical Field

[0001] This invention belongs to the field of wheelchair technology, specifically referring to a wheel-mounted electric wheelchair. Background Technology

[0002] A wheelchair is a tool to help people with mobility impairments get around. It typically consists of a seat and four fixed-height legs below the seat. Each leg has wheels, allowing the wheelchair to move autonomously by human power or electric control. This helps people with mobility impairments to go out freely. However, because the height of the wheelchair legs is currently fixed, it can only move on flat ground. When it is necessary to go up or down stairs, it is necessary to get out of the wheelchair and seek help from others, which is not only inconvenient, but also a major problem for people with mobility impairments if there is no one nearby to help them. Therefore, there is a need for a wheelchair that can go up and down stairs, thus better assisting people with mobility impairments to get around. Summary of the Invention

[0003] The purpose of this invention is to provide a wheelchair with a simple structure that can go up and down stairs, thereby better assisting people with mobility impairments in going out.

[0004] The objective of this invention is achieved as follows: An electric wheelchair with wheels and legs includes a wheelchair body for sitting. Below the wheelchair body are a left front walking device, a right front walking device, a left rear walking device, and a right rear walking device. The upper ends of each of these devices are directly or indirectly movably connected to the wheelchair body. Each device includes a first drive motor, a first movable arm, a second drive motor, a second movable arm, and a walking wheel. One end of the first drive motor is mounted on the wheelchair body, and the other end is connected to the first movable arm. The first drive motor can drive the first movable arm to rotate relative to the wheelchair body. One end of the first movable arm is rotatably connected to one end of the second movable arm. The second drive motor is indirectly connected to the second movable arm and can drive the second movable arm to rotate relative to the first movable arm. The lower end of the second movable arm is connected to the walking wheel, and a hub motor is mounted on the walking wheel to drive it to rotate and move. A power supply device is also located below the wheelchair body.

[0005] Furthermore, the left front walking device, right front walking device, left rear walking device, and right rear walking device all include a linkage mechanism. The linkage mechanism includes a connecting rod and a pull rod connected to the output end of the second drive motor. One end of the pull rod is hinged to the connecting rod, and the other end is hinged to the end of the second movable arm. When the second drive motor drives the connecting rod to rotate with the output end, the pull rod moves along the surface of the first movable arm with the drive of the connecting rod, and drives the second movable arm to rotate around its hinge point with the first movable arm.

[0006] Furthermore, the connecting rod includes a first connecting part and a second connecting part. The first connecting part is connected to the output end of the second drive motor, and the second connecting part is hinged to one end of the pull rod. The first connecting part is also provided with a clamping part, and the first connecting part is connected to the output end of the second drive motor through the clamping part.

[0007] Furthermore, a connecting column is hinged between the first movable arm and the second movable arm. The second movable arm rotates relative to the first movable arm through the connecting column. One end of the second movable arm is also provided with a drive shaft, and one end of the pull rod is connected to the drive shaft. The connecting rod can pull the drive shaft through the pull rod, thereby driving the second movable arm to rotate relative to the first movable arm.

[0008] Furthermore, the wheelchair body is also provided with a motor base, the first drive motor is mounted on the motor base, the side of the motor base has a protruding connecting part, and the second drive motor is mounted on the connecting part.

[0009] Furthermore, the wheelchair body is also equipped with several swing motors, which are respectively located at the left front, right front, left rear, and right rear of the wheelchair body, and are respectively connected to the left front walking device, right front walking device, left rear walking device, and right rear walking device. The motor base is provided with a movable connecting part that is rotatably connected to the swing motor. The swing motor is connected to the motor base through the movable connecting part. When the swing motor drives the motor base to rotate, the motor base can swing left and right relative to the wheelchair body.

[0010] Furthermore, mounting bases are provided at the front and rear ends of the wheelchair body, and cameras are provided on the mounting bases, which are connected to a power supply device.

[0011] Furthermore, the mounting base is also equipped with a foot pedal, which is rotatably connected to the mounting base at the front end of the wheelchair body.

[0012] Furthermore, a folding rod is provided between the mounting base and the foot pedal. One end of the folding rod is connected to the mounting base, and the other end is connected to the foot pedal. The folding rod includes a first rod and a second rod, and a pivot is provided between the first rod and the second rod. The first rod can rotate relative to the second rod through the pivot.

[0013] Furthermore, the wheelchair body also includes a seat cushion and a backrest. An armrest extends from the middle of the backrest and may be equipped with a control switch. A power storage base is provided below the backrest, and a receiving groove for accommodating a power supply device is provided on one side of the power storage base. The power supply device may be located in the receiving groove.

[0014] The outstanding and beneficial technical effects of this invention compared to the prior art are: This invention relates to a wheel-mounted electric wheelchair that can handle steep, uneven surfaces and stairs with height differences. Powered by electricity, it eliminates the need for manual pushing, making it more convenient for people with mobility impairments compared to existing wheelchairs. By designing the legs as wheels, similar to the legs of a mechanical dog, it facilitates climbing stairs. The wheelchair seat consists of four legs: a left front walking mechanism, a right front walking mechanism, a left rear walking mechanism, and a right rear walking mechanism. The upper ends of these four mechanisms are movably connected to the main body of the wheelchair, allowing them to swing relative to the wheelchair. Each mechanism includes a first drive motor, a first movable arm, a second drive motor, a second movable arm, and wheels. The first drive motor drives the first movable arm to rotate relative to the main body of the wheelchair, thus enabling movement when climbing stairs. At this time, the first movable arm can be raised. The first and second movable arms are rotatably connected. When the first movable arm is raised, it can drive the second movable arm to rise as well. At this time, a single foot can be lifted from the plane of the first step into the air. The second drive motor is indirectly connected to the second movable arm. The second drive motor can drive the second movable arm to rotate relative to the first movable arm. At this time, the second movable arm can move backward as it rotates, similar to the steps of a cat climbing stairs. The walking wheels are equipped with hub motors, which drive the walking wheels to move, thus facilitating walking on flat ground. The power supply device can power the wheelchair, thereby maintaining its electric self-propelled function. The biggest advantage of this invention is that, compared to the four fixed-height legs of previous wheelchairs, these are now rotatable and adjustable, forming a bionic leg structure. Figure 12 as well as Figure 13 As shown. This gives the wheelchair extremely high terrain adaptability, enabling complex movements such as climbing stairs and overcoming obstacles. The four devices can extend and retract independently, keeping the wheelchair body level and stable on any terrain, greatly improving riding comfort and safety. The four walking devices are themselves four independent devices. When traveling on bumpy roads, the system can control the extension and retraction of each one in real time, actively absorbing and offsetting vibrations, rather than directly transmitting vibrations to the rider like traditional wheelchairs. It has a compact structure, occupies little space, has small transmission gaps, and is stable and reliable. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present invention.

[0016] Figure 2 This is a side view of the present invention.

[0017] Figure 3 This is a schematic diagram of the present invention with the wheelchair body removed.

[0018] Figure 4 This is one of the perspective views of a single walking device of the present invention.

[0019] Figure 5 This is the second perspective view of a single walking device of the present invention.

[0020] Figure 6 This is a schematic diagram of the first movable arm, the second movable arm, the linkage mechanism, and the hub motor of the present invention.

[0021] Figure 7 This is a schematic diagram of the first drive motor and the first movable arm of the present invention.

[0022] Figure 8 This is a perspective view of the linkage mechanism of the present invention.

[0023] Figure 9 This is a schematic diagram of the energy storage base, mounting base, and camera of the present invention.

[0024] Figure 10 This is a perspective view of the wheelchair body of the present invention.

[0025] Figure 11 This is a schematic diagram of the power supply device of the present invention being removed from the receiving slot.

[0026] Figure 12 This is a reference diagram showing the usage state of the present invention.

[0027] Figure 13 This is a side view of the invention in use.

[0028] The meaning of the labels in the diagram: 1-Wheelchair body; 2-Left front walking mechanism; 3-Right front walking mechanism; 4-Left rear walking mechanism; 5-Right rear walking device; 6-First drive motor; 7-First movable arm; 8-Second drive motor; 9-Second movable arm; 10-Walking wheel; 11-Wheel hub motor; 12-Power supply device; 13-Motor mount; 14-Connecting part; 15-Linkage mechanism; 16-Linkage member; 17-Tie rod; 18-First connecting part; 19-Second connecting part; 20-Clamping part; 21-Connecting column; 22-Drive shaft; 23-Oscillating motor; 25-Mounting base; 26-Camera; 27-Foot pedal; 28-Seat cushion; 29-Backrest; 30 - Handrail; 31 - Control switch; 32 - Energy storage base; 33 - Receiving slot. Detailed Implementation

[0029] The present invention will be further described below with reference to specific embodiments: A wheelchair-type electric wheelchair includes a wheelchair body 1 for seating. A left front walking device 2, a right front walking device 3, a left rear walking device 4, and a right rear walking device 5 are located below the wheelchair body 1. The upper ends of the left front walking device 2, right front walking device 3, left rear walking device 4, and right rear walking device 5 are directly or indirectly movably connected to the wheelchair body 1. Each of the left front walking device 2, right front walking device 3, left rear walking device 4, and right rear walking device 5 includes a first drive motor 6, a first movable arm 7, a second drive motor 8, a second movable arm 9, and walking wheels 10. One end of the motor 6 is mounted on the wheelchair body 1, and the other end is connected to the first movable arm 7. The first drive motor 6 can drive the first movable arm 7 to rotate relative to the wheelchair body 1. One end of the first movable arm 7 is rotatably connected to one end of the second movable arm 9. The second drive motor 8 is indirectly connected to the second movable arm 9. The second drive motor 8 can drive the second movable arm 9 to rotate relative to the first movable arm 7. The lower end of the second movable arm 9 is connected to the walking wheel 10. The walking wheel 10 is equipped with a hub motor 11, which can drive the walking wheel 10 to rotate and walk. A power supply device 12 is also provided below the wheelchair body 1.

[0030] This invention is a wheel-mounted electric wheelchair that can handle steep and uneven surfaces, as well as stairs and other platforms with height differences. Because it is electrically powered, it eliminates the need for manual pushing, making it more convenient for people with mobility impairments compared to existing wheelchairs. By designing the seats as wheel-mounted legs, similar to the legs of a mechanical dog, it facilitates climbing stairs. The wheelchair seat consists of a left front walking device 2, a right front walking device 3, a left rear walking device 4, and a right rear walking device 5. The upper ends of all four devices are movably connected to the wheelchair body 1, allowing them to swing relative to the wheelchair body 1. The four devices include a first drive motor 6, a first movable arm 7, a second drive motor 8, a second movable arm 9, and walking wheels 10. The first drive motor 6 drives the first movable arm 7 to rotate relative to the wheelchair body 1, thus enabling movement when climbing stairs. The first movable arm 7 can be raised. The first movable arm 7 and the second movable arm 9 are rotatably connected. When the first movable arm 7 is raised, it drives the second movable arm 9 to rise as well. At this time, a single foot can be lifted from the plane of the first step into the air. The second drive motor 8 is indirectly connected to the second movable arm 9. The second drive motor 8 can drive the second movable arm 9 to rotate relative to the first movable arm 7. The second movable arm 9 can then move backward during the rotation, similar to the steps of a cat climbing stairs. The walking wheel 10 is equipped with a hub motor 11, which drives the walking wheel 10 to move, thus facilitating walking on flat ground. The power supply device 12 can power the wheelchair, thus maintaining its electric self-propelled function. The greatest advantage of this invention is that, compared to the four legs of a previous wheelchair with a fixed height, these legs are now rotatable and adjustable, forming a bionic leg structure. Ultimately, as... Figure 12 as well as Figure 13 As shown. This gives the wheelchair extremely high terrain adaptability, enabling complex movements such as climbing stairs and overcoming obstacles. The four devices can extend and retract independently, ensuring that the wheelchair body 1 remains level and stable on any terrain, greatly improving riding comfort and safety. The four walking devices are themselves four independent devices. When traveling on bumpy roads, the system can control the extension and retraction of each one in real time, actively absorbing and offsetting vibrations, rather than directly transmitting vibrations to the rider like traditional wheelchairs. The structure is compact, occupies little space, has small transmission gaps, and is stable and reliable.

[0031] Preferably, the left front walking device 2, right front walking device 3, left rear walking device 4, and right rear walking device 5 all include a linkage mechanism 15. The linkage mechanism 15 includes a connecting rod 16 connected to the output end of the second drive motor 8 and a pull rod 17. One end of the pull rod 17 is hinged to the connecting rod 16, and the other end is hinged to the end of the second movable arm 9. When the second drive motor 8 drives the connecting rod 16 to rotate with the output end, the pull rod 17 moves along the surface of the first movable arm 7 with the drive of the connecting rod 16, and drives the second movable arm 9 to rotate about its hinge point with the first movable arm 7. The present invention provides a linkage mechanism 15 between the second movable arm 9 and the second drive motor 8. This allows the second drive motor 8 to drive the second movable arm 9 to rotate in the desired direction via the linkage mechanism 15. The linkage mechanism 15 includes a connecting rod 16 and a pull rod 17. The connecting rod 16 is connected to the second drive motor 8. When the second drive motor 8 is working, it can drive the connecting rod 16 to rotate. One end of the pull rod 17 is connected to the connecting rod 16, and the other end is connected to the second movable arm 9. When the connecting rod 16 rotates, the pull rod 17 rotates synchronously with the rotation angle of the connecting rod 16, thereby synchronously pulling and rotating the second movable arm 9 at the other end. The linkage mechanism 15 of the present invention is equivalent to a parallelogram linkage mechanism, which has the advantages of simple structure, large torque transmission, small transmission gap, and stable reliability.

[0032] Preferably, the connecting rod 16 includes a first connecting part 18 and a second connecting part 19. The first connecting part 18 is connected to the output end of the second drive motor 8, and the second connecting part 19 is hinged to one end of the pull rod 17. The first connecting part 18 is also provided with a clamping part 20. The first connecting part 18 is connected to the output end of the second drive motor 8 through the clamping part 20, providing a larger transmission ratio and torque, thereby accurately controlling the displacement of the pull rod 17. Furthermore, the clamping part 20 can make the connecting rod 16 more stably connected to the second drive motor 8, and facilitates installation and debugging.

[0033] Preferably, a connecting column 21 is hinged between the first movable arm 7 and the second movable arm 9. The second movable arm 9 rotates relative to the first movable arm 7 via the connecting column 21. One end of the second movable arm 9 is also provided with a drive shaft 22. One end of the pull rod 17 is connected to the drive shaft 22. The connecting rod 16 can pull the drive shaft 22 via the pull rod 17, thereby driving the second movable arm 9 to rotate relative to the first movable arm 7. The first movable arm 7 is rotatably connected to the second movable arm 9 via the connecting column 21. When the first movable arm 7 is lifted upward by the drive of the first drive motor 6, the second movable arm 9 is lifted synchronously with the first movable arm 7. The pull rod 17 is connected to the drive shaft 22, which is mounted on the second movable arm 9. At this time, when the pull rod 17 moves, it can drive the second movable arm 9 to rotate independently without affecting the movement of the first movable arm 7.

[0034] Preferably, the wheelchair body 1 is further provided with a motor base 13, the first drive motor 6 is mounted on the motor base 13, the side of the motor base 13 is formed with a connecting part 14, the second drive motor 8 is mounted on the connecting part 14, providing an installation position and improving space utilization, and the first drive motor 6 and the second drive motor 8 are respectively mounted on both sides of the connecting part 14.

[0035] Preferably, the wheelchair body 1 is further provided with a plurality of swing motors 23, which are respectively located at the left front, right front, left rear, and right rear of the wheelchair body 1, and are respectively connected to the left front walking device 2, right front walking device 3, left rear walking device 4, and right rear walking device 5. The motor base 13 is provided with a movable connecting part that is rotatably connected to the swing motor 23. The swing motor 23 is connected to the motor base 13 through the movable connecting part. When the swing motor 23 drives the motor base 13 to rotate, the motor base 13 can swing left and right relative to the wheelchair body 1, and the swing motor 23 can swing left and right relative to the wheelchair body 1, so that the left front walking device 2 and the right front walking device 3 can rotate left and right relative to the wheelchair body 1, which is convenient for assisting walking when dealing with some complex terrain or environment. The number of swing motors 23 is the same as the number of walking devices. Each swing motor 23 controls one walking device independently, which simplifies the connection, avoids auxiliary internal connections, and improves production efficiency. The swing motor 23 is mounted on the motor base 13 through the movable connecting part, thereby controlling the mounting base 25 to rotate left and right relative to the wheelchair body 1.

[0036] Preferably, the wheelchair body 1 is provided with mounting bases 25 at both the front and rear ends. The mounting base 25 is provided with a camera 26, which is connected to the power supply device 12. The mounting base 25 is also provided with a foot pedal 27, which is rotatably connected to the mounting base 25 at the front end of the wheelchair body 1. The camera 26 collects images and analyzes the terrain to facilitate prompting the user to operate. The presence of both front and rear mounting bases makes it easy to inform the user of the situation behind them, improving safety and convenience, and making the design more user-friendly. The rotatable foot pedal 27 is designed to be easy to rotate and will not be affected when going up stairs, preventing the foot pedal 27 from being blocked by the step wall and thus preventing the user from being unable to walk upwards.

[0037] Preferably, a folding rod is provided between the mounting base 25 and the foot pedal 27. One end of the folding rod is connected to the mounting base 25, and the other end is connected to the foot pedal 27. The folding rod includes a first rod and a second rod, and a pivot is provided between the first rod and the second rod. The first rod can rotate relative to the second rod through the pivot. By providing a folding rod between the mounting base 25 and the foot pedal 27, the present invention allows the foot pedal 27 to be folded and stored relative to the wheelchair body 1, which saves space when not in use and improves the utilization rate of indoor space. The rotating setting is more convenient than the pull-out type and avoids jamming that requires a lot of effort to pull out.

[0038] Preferably, the wheelchair body 1 further includes a seat cushion 28 and a backrest 29. An armrest 30 extends from the middle of the backrest 29. A control switch 31 may be provided on the armrest 30. A power storage base 32 is provided below the backrest 29. A receiving groove 33 for accommodating a power supply device 12 is provided on one side of the power storage base 32. The power supply device 12 may be disposed in the receiving groove 33. The power supply device 12 of the present invention is detachable and is located on the side. When it needs to be replaced, it can be pulled out from the side, making installation and disassembly convenient.

[0039] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A wheelchair-type electric wheelchair, comprising a wheelchair body (1) for sitting, characterized in that, The wheelchair body (1) is provided with a left front walking device (2), a right front walking device (3), a left rear walking device (4), and a right rear walking device (5) at its lower part. The upper ends of the left front walking device (2), right front walking device (3), left rear walking device (4), and right rear walking device (5) are directly or indirectly connected to the wheelchair body (1). The left front walking device (2), right front walking device (3), left rear walking device (4), and right rear walking device (5) each include a first drive motor (6), a first movable arm (7), a second drive motor (8), a second movable arm (9), and a walking wheel (10). One end of the first drive motor (6) is mounted on the wheelchair body ( 1) The other end is connected to the first movable arm (7). The first drive motor (6) can drive the first movable arm (7) to rotate relative to the wheelchair body (1). One end of the first movable arm (7) is rotatably connected to one end of the second movable arm (9). The second drive motor (8) is indirectly connected to the second movable arm (9). The second drive motor (8) can drive the second movable arm (9) to rotate relative to the first movable arm (7). The lower end of the second movable arm (9) is connected to the walking wheel (10). The walking wheel (10) is equipped with a hub motor (11). The hub motor (11) can drive the walking wheel (10) to rotate and walk. The wheelchair body (1) is also equipped with a power supply device (12) below it.

2. The wheelchair with legs according to claim 1, characterized in that: The left front walking device (2), right front walking device (3), left rear walking device (4) and right rear walking device (5) all include a linkage mechanism (15). The linkage mechanism (15) includes a connecting rod (16) connected to the output end of the second drive motor (8) and a pull rod (17). One end of the pull rod (17) is hinged to the connecting rod (16), and the other end is hinged to the end of the second movable arm (9). When the second drive motor (8) drives the connecting rod (16) to rotate with the output end, the pull rod (17) moves along the surface of the first movable arm (7) with the drive of the connecting rod (16), and drives the second movable arm (9) to rotate around its hinge point with the first movable arm (7).

3. The wheelchair with legs according to claim 2, characterized in that: The connecting rod (16) includes a first connecting part (18) and a second connecting part (19). The first connecting part (18) is connected to the output end of the second drive motor (8), and the second connecting part (19) is hinged to one end of the pull rod (17). The first connecting part (18) is also provided with a clamping part (20). The first connecting part (18) is connected to the output end of the second drive motor (8) through the clamping part (20).

4. A wheelchair with legs according to claim 2, characterized in that: A connecting column (21) is hinged between the first movable arm (7) and the second movable arm (9). The second movable arm (9) rotates relative to the first movable arm (7) through the connecting column (21). A drive shaft (22) is also provided at one end of the second movable arm (9). One end of the pull rod (17) is connected to the drive shaft (22). The connecting rod (16) can pull the drive shaft (22) through the pull rod (17), thereby driving the second movable arm (9) to rotate relative to the first movable arm (7).

5. A wheelchair with legs according to any one of claims 1-4, characterized in that: The wheelchair body (1) is also provided with a motor base (13), the first drive motor (6) is mounted on the motor base (13), and a connecting part (14) is protruding from the side of the motor base (13), and the second drive motor (8) is mounted on the connecting part (14).

6. A wheelchair with legs according to claim 5, characterized in that: The wheelchair body (1) is also provided with several swing motors (23). The swing motors (23) are respectively located at the left front, right front, left rear, and right rear of the wheelchair body (1) and are respectively connected to the left front walking device (2), right front walking device (3), left rear walking device (4) and right rear walking device (5). The motor base (13) is provided with a movable connecting part that is rotatably connected to the swing motor (23). The swing motor (23) is connected to the motor base (13) through the movable connecting part. When the swing motor (23) drives the motor base (13) to rotate, the motor base (13) can swing left and right relative to the wheelchair body (1).

7. A wheelchair with legs as described in claim 1, characterized in that: The wheelchair body (1) is provided with mounting bases (25) at the front and rear ends respectively. The mounting bases (25) are provided with cameras (26), and the cameras (26) are connected to the power supply device (12).

8. A wheelchair with legs according to claim 7, characterized in that: The mounting base (25) is also provided with a foot pedal (27), which is rotatably connected to the mounting base (25) at the front end of the wheelchair body (1).

9. A wheelchair with legs according to claim 8, characterized in that: A folding rod is also provided between the mounting base (25) and the foot pedal (27). One end of the folding rod is connected to the mounting base (25), and the other end is connected to the foot pedal (27). The folding rod includes a first rod and a second rod. A pivot is provided between the first rod and the second rod. The first rod can rotate relative to the second rod through the pivot.

10. A wheelchair with legs according to claim 1, characterized in that: The wheelchair body (1) also includes a seat cushion (28) and a backrest (29). An armrest (30) extends from the middle of the backrest (29). A control switch (31) may be provided on the armrest (30). A power storage base (32) is provided below the backrest (29). A receiving groove (33) for accommodating a power supply device (12) is provided on one side of the power storage base (32). The power supply device (12) may be located in the receiving groove (33).

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