Folding mechanism of foldable seat in electric scooter

Abstract

The utility model relates to the technical field of electric wheelchairs, in particular to a folding mechanism of a foldable seat in an electric scooter, which comprises a four-bar mechanism used for folding the foldable seat and a driving mechanism used for driving the four-bar mechanism to fold. The four-connecting-rod mechanism comprises a fourth connecting rod arranged at the bottom of the foldable seat, one end of the fourth connecting rod is rotationally connected with one end of a first connecting rod through a first rotating shaft O1, and the other end of the fourth connecting rod is rotationally connected with one end of a third connecting rod through a fourth rotating shaft O4; the other end of the first connecting rod is rotationally connected with one end of a second connecting rod through a second rotating shaft O2, and the other end of the third connecting rod is rotationally connected with the other end of the second connecting rod through a third rotating shaft 3; the driving mechanism comprises a supporting column motor, and the output end of the supporting column motor is rotationally connected to the third connecting rod through a sixth rotating shaft O6.

Description

[0001] Priority Application

[0002] This application claims priority to Chinese Invention Patent Application No. 2024102722909, filed on March 8, 2024, entitled “

Invention Name: An Electric Scooter and Its Folding Mechanism, Shock Absorbing Device, and Sensing System

[0003] The utility model relates to electric wheelchair technical field, concretely is a folding mechanism of foldable seat in electric scooter. BACKGROUND

[0004] Electric wheelchairs and electric scooters are intelligent travel tools designed specifically for people with limited mobility. They help users achieve independent movement through electric power, significantly improving the convenience of life and social participation. These devices mainly serve people with difficulty walking, taking into account medical rehabilitation and daily mobility needs.

[0005] The height and position of the seat of a traditional wheelchair or electric scooter are fixed and cannot be adjusted. However, in daily life, people need to move to different application scenarios, which requires adaptation to different heights. For example, when users are at a table in a coffee shop or bookstore, some tables are higher, or some tables are lower. If the seat height cannot be adjusted, users will feel uncomfortable. In addition, users will inevitably feel tired if they remain in one position for a long time, which is not good for their health, such as their lumbar spine. Therefore, there is an increasing need for adjustable seats. Therefore, various adjustable seat scooters have been proposed in the prior art.

[0006] For example, Chinese Utility Model Patent Application No. CN201347010Y discloses a seat lifting and rotating device that can be easily adjusted in rotation, lifting, and preventing disengagement. It includes a receiving seat, a lifting adjustment group, a rotating adjustment group, a limiting group, and a receiving pipe. The receiving seat is installed on the seat of the electric scooter, and the receiving pipe is installed on the body of the electric scooter. The lifting adjustment group is combined with the limiting group to be movably installed in the receiving pipe. When in use, the user presses one end of the unlocking handle to unlock the control valve of the air pressure rod at the other end of the unlocking handle, thereby controlling the piston rod of the air pressure rod to be stretched or contracted by external force, causing the body of the air pressure rod and the receiving seat to lift.

[0007] However, when the user has both a height difference and a horizontal displacement difference with a target such as a table, the height is adjusted by the above lifting structure, and then the electric scooter needs to be controlled to continue moving forward. However, when the horizontal displacement difference is small, it is difficult to adjust the distance to a proper distance by only controlling the movement of the wheels of the electric scooter. That is, this method needs to be adjusted twice, and it is difficult to control the slight adjustment of the horizontal position.

[0008] In view of this, we propose a folding mechanism for a foldable seat of an electric scooter. Invention content

[0009] The purpose of the present application is to provide a folding mechanism for a foldable seat of an electric scooter, which partially solves or alleviates the above technical problems, so that the height and horizontal displacement of the seat can be adjusted simultaneously.

[0010] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0011] A folding mechanism for a foldable seat of an electric scooter, comprising a four-bar linkage mechanism for folding the foldable seat, and a driving mechanism for driving the four-bar linkage mechanism to fold, the four-bar linkage mechanism comprising:

[0012] A fourth connecting rod is arranged at the bottom of the foldable seat, one end of the fourth connecting rod is rotatably connected to one end of a first connecting rod through a first rotating shaft O1, the other end is rotatably connected to one end of a third connecting rod through a fourth rotating shaft O4, the other end of the first connecting rod is rotatably connected to one end of a second connecting rod through a second rotating shaft O2, and the other end of the third connecting rod is rotatably connected to the other end of the second connecting rod through a third rotating shaft O3;

[0013] The driving mechanism comprises a support motor, and the output end of the support motor is rotatably connected to the third connecting rod through a sixth rotating shaft O6.

[0014] Preferably, the second connecting rod is fixedly installed on the lower vehicle body of the electric scooter.

[0015] Preferably, the connecting end of the support motor is rotatably connected to the lower vehicle body of the electric scooter through a fifth rotating shaft O5; and / or, the output end of the support motor comprises a support motor upper support rod and a support motor lower support rod connected in an extension manner, and the free end of the support motor upper support rod is hinged to the third connecting rod.

[0016] Preferably, the free end of the support motor upper support rod is hinged to one end of the third connecting rod close to the fourth rotating shaft O4.

[0017] Preferably, when the folding mechanism is installed on the lower vehicle body of the electric scooter, the height of the second rotating shaft O2 relative to the plane on which the lower vehicle body of the electric scooter is located is less than the height of the third rotating shaft O3 relative to the plane on which the lower vehicle body of the electric scooter is located.

[0018] Preferably, the second connecting rod is a strut base fixedly installed on the lower vehicle body of the electric scooter, the strut base comprising a first fixed plate, and a second fixed plate and a third fixed plate located on both sides of the first fixed plate respectively and parallel to each other, and when the strut base is installed on the lower vehicle body of the electric scooter, the height of the second fixed plate is lower than the height of the third fixed plate.

[0019] Preferably, the second fixed plate is provided with a strut front segment support bracket, the third fixed plate is provided with a strut rear segment support bracket, the second rotating shaft O2 is arranged on the strut front segment support bracket, and the third rotating shaft O3 is arranged on the strut rear segment support bracket.

[0020] Preferably, the first connecting rod and the third connecting rod are a strut front segment and a strut rear segment respectively enclosing a seat strut.

[0021] The two ends of the strut front segment are rotatably connected with the fourth connecting rod and the second connecting rod through the first rotating shaft O1 and the second rotating shaft O2 respectively, and the two ends of the strut rear segment are rotatably connected with the second connecting rod and the fourth connecting rod through the third rotating shaft O3 and the fourth rotating shaft O4 respectively.

[0022] Preferably, the length of the strut front segment is greater than the length of the strut rear segment.

[0023] Preferably, the two sides of the strut rear segment are curved in the direction close to the strut front segment to form a first side wing, and the two sides of the strut front segment are curved in the direction close to the strut rear segment to form a second side wing, wherein the second side wing is located inside the first side wing and has a gap between the two.

[0024] When the foldable seat is raised to the highest position, the second side wing close to the front end of the strut rear segment is shielded by the first side wing close to the front end of the strut front segment.

[0025] When the foldable seat is lowered to the lowest position, the first side wing completely shields the second side wing.

[0026] Beneficial effects:

[0027] 1.The utility model discloses a seat support post is set up, so that the seat support post can be folded mechanism in the support motor (i.e. driving mechanism) drive support motor upper support rod, support motor lower support rod elongation and shorten, thereby drive four connecting rod mechanism in the support rear section relative to the car body skeleton, support pedestal rotates, and is driven by the support rear section support top connector and support front section different rotation, further make the folding seat under the action of the four connecting rod structure more stablely along the vertical direction and horizontal direction movement, realize the adjustment of seat position.Compared with two connecting rod or three connecting rod mechanism, the stability and safety of the lifting device are better, and in order to adapt to different sitting postures in different application scenarios, the four connecting rod mechanism is not used parallelogram structure, wherein the length of the support front section is greater than the length of the support rear section, so that the four connecting rod mechanism forms an irregular trapezoid, for example, the length of the edge between the fourth rotation shaft O4 and the third rotation shaft O3 is less than the length of the edge between the first rotation shaft O1 and the second rotation shaft O2, and the length of the edge between the first rotation shaft O1 and the fourth rotation shaft O4 is less than the length of the edge between the second rotation shaft O2 or the third rotation shaft O3, as shown in Figure 5a , such design makes the seat cushion form a certain angle (for example, 15°-25°) between the axial direction and the ground when the seat cushion rises to the highest position, and the user's back is close to the backrest when sitting, which is more comfortable and safer; when the seat cushion reaches the lowest position, the axial direction of the seat cushion is almost parallel to the ground, and the seat cushion bottom just abuts against the wheel (as shown in Figure 3 ), which makes the volume smaller and is convenient to store. Further, the support front section and the support rear section can move towards each other, so that the distance between the two is maximum when the seat cushion is at the highest position, and the distance between the two is minimum when the seat cushion is at the lowest position, further reducing the volume and facilitating storage.

[0028] 2.The utility model discloses a new suspension is designed to install the rear shock absorber in front of the rear wheel, not only makes the overall width of the electric scooter reduces, and further improves the passability of the electric scooter.

[0029] 3.The electric scooter of the utility model further sets up a sensing system and sets up an indicator light and a screen system, so that the sound and light system can prompt during the walking process, and has higher safety.

[0030] 4.The electric scooter of the utility model is also equipped with a sensing system, such as a laser radar, an ultrasonic radar and a TOF ranging sensor, which can provide assistance for automatic driving in scenarios such as obstacle avoidance, narrow roads and slopes when the driver is using it, and has higher intelligence. The existing electric scooter is mostly equipped with a central controller for automatic driving, therefore, the sensing system can provide reliable data for automatic driving, thereby avoiding obstacles or planning a path, etc. Specifically, the utility model sets up ultrasonic radars and laser radars with different detection ranges and detection angles in the front end of the lower vehicle body to adapt to different environments, thereby ensuring accuracy without greatly increasing the cost of the electric scooter. For example, two ultrasonic radars are symmetrically arranged in front of the pedals in the front end of the lower vehicle body to realize close-range detection in front, and one ultrasonic radar is arranged on each side of the pedals to realize close-range detection in the left front and right front, thereby realizing detection in front, the left front and the right front and near the front wheel, i.e. multi-directional detection. As ultrasonic radars are easily disturbed by noise and their accuracy decreases as the distance increases, a laser radar capable of detecting within a 360° range is also arranged to realize multi-directional detection in cooperation with the ultrasonic radars. Furthermore, a distance sensor is arranged on the handrail to realize long-distance detection. For the rear end of the scooter, corresponding ultrasonic radars are arranged at different heights for the rear wheels and the anti-toppling mechanism to avoid blind spots when reversing and ensure safety when reversing. That is, through the combination of ultrasonic radars, laser radars and distance sensors, a sensing system with controllable cost, capable of detecting different distances and multi-directionally, is realized, and compared with the way of arranging a certain detection component alone, it has higher reliability, and compared with the way of using laser radars as detection components, it has lower cost.

[0031] 5.The utility model discloses a anti -toppling mechanism is set up, when the lower vehicle body is inclined, the lower vehicle body is inclined with ground, at this moment trigger gyro wheel continues to move down under the action of trigger spring, makes the trigger spring drive trapezoidal block to move down, at this moment trapezoidal block no longer joint guide plate, makes guide plate pop -up under the action of compression spring, makes guide plate drive anti -toppling gyro wheel to stretch and ground and resist, makes the lower vehicle body of inclination have a support point with ground, has played the effect of preventing to fall down, has improved the stability of electric scooter under the inclined state, avoids the security risk caused by falling down. BRIEF DESCRIPTION OF DRAWINGS

[0032] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0033] Figure 1 This is a schematic diagram of the front structure of an embodiment of the electric mobility scooter of this utility model.

[0034] Figure 2 This is a schematic diagram of the rear structure of an embodiment of the electric mobility scooter of this utility model.

[0035] Figure 3 This is a schematic diagram illustrating the folding and unfolding of the foldable seat in one embodiment of the electric mobility scooter of this utility model;

[0036] Figure 4 To reflect Figure 1 A structural diagram of the seat support pillars on the lower middle body of the vehicle;

[0037] Figure 5a This is a schematic diagram illustrating the principle of the folding mechanism in the seat support of the electric mobility scooter of this invention.

[0038] Figure 5b This is a schematic diagram illustrating the structure of the folding mechanism when the foldable seat of the electric mobility scooter of this invention is in its highest position.

[0039] Figure 5c This is a schematic diagram illustrating the structure of the folding mechanism when the foldable seat of the electric mobility scooter of this invention is in its lowest position.

[0040] Figure 6 This is a schematic diagram illustrating the cooperation between the front and rear sections of the support column when the foldable seat of the electric mobility scooter of this utility model is in its highest position.

[0041] Figure 7 This is a schematic diagram illustrating the cooperation between the front and rear sections of the support column when the foldable seat of the electric mobility scooter of this utility model is in its lowest position.

[0042] Figure 8 This is a schematic diagram of the structure of the rear shock absorber in the electric mobility scooter of this utility model;

[0043] Figure 9 This is a structural schematic diagram of the rear shock absorber of the electric mobility scooter in this utility model from another perspective.

[0044] Figure 10 It is the structure schematic view of the anti-toppling mechanism in the electric scooter of the utility model;

[0045] Figure 11 It is the structure schematic view of the anti-toppling mechanism in the electric scooter of the utility model; Figure 10 It is the structure schematic view of the anti-toppling mechanism in the electric scooter of the utility model.

[0046] In the figure: 1, lower vehicle body; 100, cushion; 101, lower vehicle body framework; 2, front wheel; 3, rear wheel; 303, rear wheel motor; 6, backrest; 7, headrest; 8, armrest; 9, control handle; 10, distance sensor; 11, mobile phone support; 12, armrest rotating shaft; 13, laser radar; 14, ultrasonic radar; 15, rear camera; 16, rear indicator; 17, rear display; 19, battery; 20, seat adjustment button; 21, pedal; 22, front damping device; 23, anti-collision groove;

[0047] 4, seat support column; 103, support column front section support bracket; 1041, lug base; 1042a, first body; 1042b, second body; 105, seat support column base; 1051, first fixed plate; 1052, second fixed plate; 1053, third fixed plate; 106, support column rear section support bracket; 401, support column rear section; 402, support column front section; 401a, first feature (such as arc-shaped first side wing); 402a, second feature (such as arc-shaped second side wing); 403, support column top connector; 404, support column motor; 405, support column motor upper support rod; 406, support column motor lower support rod; 407, support column motor upper support point; 102, support column motor lower support point; 410, support column rear section lower connection point; 412, support column front section upper connection point; 423, support column front section lower connection point;

[0048] 5, damping device; 501, rear swing arm; 502, rear shock absorber; 503a, first base body (or shock absorber outer shaft base I); 503c, second base body (or shock absorber outer shaft base II); 503b, shock absorber outer shaft pull rod; 503d, shock absorber outer shaft connection point; 504, shock absorber spring; 505, shock absorber inner shaft; 505a shock absorber inner shaft base; 506, swing arm rotating shaft; 507, first connecting rod; 508, second connecting rod;

[0049] 18, anti-toppling mechanism; 181, compression spring; 182, guide plate; 107, shock absorber front mounting seat; 304, wheel motor mounting rack; 183, anti-toppling roller; 184, trigger spring; 185, trapezoidal block; 186, vertical rod; 187, trigger roller. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0051] In this document, the suffixes such as "module", "part", or "unit" used for an element are merely for facilitating the description of the utility model, and have no particular meaning. Therefore, "module", "part", or "unit" can be used mixedly.

[0052] In this document, the orientation or position relationship indicated by the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like is the orientation or position relationship based on the orientation or position relationship shown in the drawings, and is merely for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0053] In this document, unless otherwise explicitly specified and limited, the terms "mount", "provided with", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be directly connected, can be indirectly connected through an intermediate medium, or can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0054] In this document, "and / or" includes any and all combinations of one or more listed related items.

[0055] In this document, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0056] Embodiment 1: see Figure 1 It is a structural schematic view of the electric scooter of an exemplary embodiment of the utility model, specifically, the electric scooter comprises: a lower vehicle body 1, a foldable seat connected on the lower vehicle body 1 through a seat column (i.e. Figure 1 The front and rear ends of the left and right sides of the lower vehicle body 1 are respectively provided with front wheels 2 and rear wheels 3 symmetrically, and a damping device 5 is mounted near the rear wheels 3 through a suspension.

[0057] In some embodiments, the folding mechanism adopts a four-bar linkage mechanism, which is more stable and safer than two-bar or three-bar linkage mechanisms; and in order to adapt to different sitting postures in different application scenarios (for example, when walking, the axis of the seat cushion (i.e., the seat cushion 100) is above the horizontal line and has a certain angle with the horizontal line; and when entering under a table, the axis of the seat cushion is parallel to the horizontal line), the four-bar linkage mechanism is not in a parallelogram structure.

[0058] Referring to Figure 4 , the four-bar linkage mechanism includes: a first link (such as the front section of the support 402) arranged between the first rotation shaft O1 and the second rotation shaft O2, a second link (such as the seat support base 105) between the second rotation shaft O2 and the third rotation shaft O3, a third link (such as the rear section of the support 401) between the third rotation shaft O3 and the fourth rotation shaft O4, and a fourth link (such as the top support connector 403) between the fourth rotation shaft O4 and the first rotation shaft O1. The folding mechanism also includes a driving mechanism, such as a motor, for driving the four-bar linkage mechanism to rotate with the side between the second rotation shaft O2 and the third rotation shaft O3 as a fixed side. One end of the driving mechanism is fixed on the lower vehicle body frame (such as the lower vehicle body frame 101), and the free end of the support rod (such as the upper support rod 405 of the support motor) is rotatably connected to the third link through the sixth rotation shaft O6.

[0059] Referring to Figures 4 to 8 , in some embodiments, the seat support 4 includes: a rear section of the support 401, a front section of the support 402, a top support connector 403, and a support motor 404. The front support 402 and the rear support 401 are connected together by the top support connector 403 through a connecting member such as a bolt, and can rotate in the axial direction thereof.

[0060] Referring to FIG. 5b and Figure 5c , the seat support base 105 is fixedly connected with the lower vehicle body frame 101, and the front section support bracket 103 and the rear section support bracket 106 are fixedly connected thereto. The rear section of the support 401 and the front section of the support 402 are bolted together through the lower connection point 423 of the front section of the support and the lower connection point 410 of the rear section of the support, and can also rotate in the axial direction of the bolt. In this way, the rear section of the support 401, the front section of the support 402, the top support connector 403, and the seat support base 105 form a four-bar linkage structure. The lower end of the support motor 404 is connected with the lower vehicle body frame 101 through the lower support point 102 of the support motor, and the upper support rod 405 of the support motor is connected with the rear section of the support 401 through the upper support point 407 of the support motor. The upper support rod 405 of the support motor can slide in the axial direction of the inner diameter of the lower support rod 406 of the support motor.

[0061] Further, the rear section of the support 401 has a curved first feature 401a (such as Figure 7and Figure 8 The seat pillar 4 is composed of a front section 402 and a rear section 401, and the front section 402 is provided with a first feature 401a (such as an arc-shaped first side wing) and the rear section 401 is provided with a second feature 402a (such as an arc-shaped second side wing), wherein the first feature 401a and the second feature 402a have a certain overlap in the front-rear direction and a certain gap in the left-right direction. In this way, the seat pillar 4 can be visually regarded as a single column, and at the same time, the front section 402 and the rear section 401 of the column have a relative movement in the front-rear direction when the column is adjusted in height. Figure 6 and Figure 7 When the seat pillar 4 is lowered to the lowest position of the seat (as shown in the position), the distance between the front section 402 and the rear section 401 of the seat pillar is the smallest, and the second feature 402a is completely accommodated in the first feature 401a. At this moment, it is still visually regarded as a single column, and compared with the traditional four-bar linkage structure, it is more simple in appearance. In addition, the design allows the two to partially overlap, which not only reduces the volume of the column when folded, but also creates more folding space for the seat. If the front section 402 and the rear section 401 are integrated, they will always maintain the structure shown in the position, which will limit the folding space and the seat cannot be folded to the position shown in the position. Figure 3 、 Figure 5c and Figure 7 When the seat pillar 4 is lowered to the lowest position of the seat (as shown in the position), the distance between the front section 402 and the rear section 401 of the seat pillar is the smallest, and the second feature 402a is completely accommodated in the first feature 401a. At this moment, it is still visually regarded as a single column, and compared with the traditional four-bar linkage structure, it is more simple in appearance. In addition, the design allows the two to partially overlap, which not only reduces the volume of the column when folded, but also creates more folding space for the seat. If the front section 402 and the rear section 401 are integrated, they will always maintain the structure shown in the position, which will limit the folding space and the seat cannot be folded to the position shown in the position. Figure 5c Figure 6 Figure 5c

[0062] Referring to the rear wheel 3, a rear suspension is provided, which includes a suspension hanger, a rear swing arm 501, a rear shock absorber 502, and a shock absorber front mounting seat 107. The rear swing arm 501 is connected with the rear wheel motor 303, the suspension hanger is fixedly connected to the lower vehicle body frame 101, the rear swing arm 501 is connected with the suspension hanger through a swing arm rotating shaft 506 and can rotate along the axis. The shock absorber front mounting seat 107 is fixed to the lower vehicle body frame 101. Figure 8 Figure 9 In some embodiments, the lower end of the swing arm 501 is connected with the rear shock absorber 502 through a bolt or other connecting member and a shock absorber outer shaft connecting point 503d, and can rotate along the axial direction of the bolt. The other end of the rear shock absorber 502 is connected to the shock absorber front mounting seat 107 in the same way at the shock absorber inner shaft connecting point 108.

[0063] When the vehicle is running, the up-and-down movement of the rear wheel 3 will drive the rear wheel motor 303 to move longitudinally, and the up-and-down movement of the former will be converted into the front-and-back movement of the shock absorber outer shaft connecting point 503d through the swing arm rotating shaft 506, thereby driving the rear shock absorber 502 to work.

[0064]

[0065] ​​​​​Different from the prior art, the rear shock absorber 502 is a special type of reverse pull shock absorber, the shock absorber spring 504 is sleeved on the shock absorber inner shaft 505, one end of the shock absorber spring 504 is supported on the shock absorber outer shaft base I (i.e. the first base body 503a in the subsequent embodiment), and the other end of the shock absorber spring 504 is supported on the shock absorber outer shaft base II (i.e. the second base body 503c in the subsequent embodiment), the shock absorber outer shaft base I 503a and the shock absorber outer shaft base II 503c are fixedly connected together through the shock absorber outer shaft pull rod 503b, and the shock absorber outer shaft base II 503c is fixedly connected to the shock absorber inner shaft 505.

[0066] When the rear wheel 3 jumps upward, the shock absorber outer shaft connecting point 503d moves in the direction of the tail of the vehicle, the shock absorber outer shaft base I, i.e. the first base body 503a, the shock absorber outer shaft pull rod 503b and the shock absorber outer shaft base II, i.e. the second base body 503c, also move in the direction of the tail of the vehicle, and at this moment, the shock absorber inner shaft 505 is connected to the shock absorber front mounting seat 107 through the shock absorber inner shaft connecting point 108 and does not have relative movement, so at this moment, the spring 504 is driven to move backward and is compressed, and different from the conventional shock absorber, the distance between the shock absorber inner shaft connecting point 108 and the shock absorber outer shaft connecting point 503d increases and the spring is compressed, so that the service life of the spring is longer.

[0067] If a conventional compression type shock absorber is used, the length of the installation structure of the rear wheel motor can be lengthened, but this way will increase the volume or size of the whole device, therefore, from the perspective of space optimization, without changing the installation point of the rear wheel motor, a reverse pull type shock absorber is used, and the up and down movement of the rear wheel motor is converted into the front and back movement of the reverse pull type shock absorber through the rear swing arm.

[0068] Embodiment 2: please refer to Figure 1 Figure 8 As shown in the drawings, the utility model provides an electric scooter, including lower car body 1, its outside is equipped with protective cover, to protect internal structure, lower car body 1 is provided with front wheel 2, rear wheel 3, and front wheel 2, rear wheel 3 is provided with motor for driving (preferably, this motor is brushless DC motor, to improve energy efficiency), and front wheel 2, rear wheel 3 all adopt wear -resisting rubber material, to improve service life, and the lower car body 1 is connected with foldable seat through seat support 4.

[0069] In some embodiments, please refer to Figure 1 ​The foldable seat comprises a seat cushion 100 mounted on top of the seat pillar 4, a backrest 6 rotatably connected to the rear end of the seat cushion 100, a headrest 7 arranged on the backrest 6, and an armrest 8 arranged on the backrest 6 and rotatably connected to both sides of the backrest 6 through an armrest rotating shaft 12.

[0070] In some embodiments, referring to Figure 4 The lower vehicle body 1 is provided with a lower vehicle body framework 101, which is preferably made of lightweight aluminum alloy material to reduce the overall weight.

[0071] In this embodiment, the lower vehicle body framework 101 is fixedly connected with a seat pillar 4, and the top of the seat pillar 4 is fixedly connected with a seat cushion 100. The seat pillar 4 comprises a foldable mechanism and a driving mechanism for driving the foldable mechanism to fold, i.e., the foldable mechanism is driven by the driving mechanism to fold, thereby achieving seat adjustment (including height adjustment and slight displacement in the horizontal direction, and even including the included angle between the seat cushion 100 and the plane M where the lower vehicle body framework 101 is located). Specifically, the foldable mechanism comprises:

[0072] The seat pillar 4 is fixedly connected to the lower vehicle body framework 101, and the top of the seat pillar 4 is fixedly connected to the seat cushion 100. The seat pillar 4 comprises a foldable mechanism and a driving mechanism for driving the foldable mechanism to fold, i.e., the foldable mechanism is driven by the driving mechanism to fold, thereby achieving seat adjustment (including height adjustment and slight displacement in the horizontal direction, and even including the included angle between the seat cushion 100 and the plane M where the lower vehicle body framework 101 is located). Specifically, the foldable mechanism comprises:

[0073] Preferably, referring to Figure 5b and Figure 5c The seat pillar 4 is fixedly connected to the lower vehicle body framework 101, and the top of the seat pillar 4 is fixedly connected to the seat cushion 100. The seat pillar 4 comprises a foldable mechanism and a driving mechanism for driving the foldable mechanism to fold, i.e., the foldable mechanism is driven by the driving mechanism to fold, thereby achieving seat adjustment (including height adjustment and slight displacement in the horizontal direction, and even including the included angle between the seat cushion 100 and the plane M where the lower vehicle body framework 101 is located). Specifically, the foldable mechanism comprises:

[0074] Preferably, referring to Figure 5a and Figure 5bThe two ends of the support base 105 are respectively fixedly connected to the front support bracket 103 and the rear support bracket 106. The front support bracket 103 is provided with the lower connection point 423 of the front section (that is, the second rotating shaft O2 is provided at the lower connection point 423 of the front section), and the rear support bracket 106 is provided with the lower connection point 410 of the rear section (that is, the third rotating shaft O3 is provided at the lower connection point 410 of the rear section). Thus, one end of the front section 402 is hinged to the support base 105 through the lower connection point 423 of the front section, and one end of the rear section 401 is hinged to the support base 105 through the lower connection point 410 of the rear section.

[0075] Preferably, see Figure 5a and Figure 5b The support base 105 includes a first fixing plate 1051, and a second fixing plate 1052 and a third fixing plate 1053 respectively disposed on both sides of the first fixing plate 1051 and arranged parallel to each other. Preferably, the height direction of the first fixing plate 1051 forms an acute angle with the plane M where the lower vehicle frame 101 is located (that is, the first fixing plate 1051 is not perpendicular to the plane M where the lower vehicle frame 101 is located, but is oriented towards the parking space). Figure 5b (In the Y-axis direction) tilted backward), the second fixing plate 1052 is located at the bottom of one side of the first fixing plate 1051 and is fixed to the lower body frame 101; the third fixing plate 1053 is located at the top of the other side of the first fixing plate 1051 and is fixed to the lower body frame 101, so that the second fixing plate 1052 and the third fixing plate 1053 are located on planes at different heights, thereby creating a certain height difference between the second rotating shaft O2 and the third rotating shaft O3 (e.g., in the Y-axis direction) tilted backward, the second fixing plate 1052 is located at the bottom of one side of the first fixing plate 1051 and is fixed to the lower body frame 101, so that the second fixing plate 1052 and the third fixing plate 1053 are located on planes at different heights, thereby creating a certain height difference between the second rotating shaft O2 and the third rotating shaft O3 (e.g., in the Y-axis direction) tilted backward, the second fixing plate 1052 is located at the bottom of one side of the first fixing plate 1051 and is fixed to the lower body frame 101; the third fixing plate 1053 is located at the top of the other ... Figure 5b As shown by the dashed line, or as Figure 5a (As shown).

[0076] like Figure 5a and Figure 5b Preferably, the height of the second pivot O2 relative to the plane of the lower body frame 101 is less than the height of the third pivot O3 relative to the plane of the lower body frame 101. Since both the second pivot O2 and the third pivot O3 are mounted on the lower body frame 101, their heights remain fixed regardless of how the seat is folded. Correspondingly, the height difference between them is also fixed, meaning the support base 105 between them serves as a fixed side. As the drive mechanism drives the rear section 401 of the support pillar to rotate around the third pivot O3, the quadrilateral formed by the four-bar linkage deforms.

[0077] For example, such as Figure 5a and Figure 5b, the initial state (i.e. the seat is raised to the highest position), the height of the first rotating shaft O1 relative to the plane of the lower vehicle body frame 101 is greater than the height of the fourth rotating shaft O4 relative to the plane of the lower vehicle body frame 101, so that the cushion 100 is appropriately inclined inwardly of the backrest 6 (i.e. the axial direction of the cushion 100 has a certain angle with the horizontal plane, as shown in Figure 3 ). Figure 5c , when the seat is in the lowest position, the height of the first rotating shaft O1 relative to the plane of the lower vehicle body frame 101 is slightly less than the height of the fourth rotating shaft O4 relative to the plane of the lower vehicle body frame 101, so that the axial direction of the cushion 100 is almost parallel to the horizontal plane, as shown in Figure 3 .

[0078] In some embodiments, referring to Figure 5b , in this embodiment, the support column motor 404 includes a support column motor upper support rod 405 and a support column motor lower support rod 406, which are output ends of the support column motor 404 for driving extension and retraction. The support column rear section 401 is hinged to the output ends of the support column motor 404 through a support column motor upper support point 407 (i.e. a hinge point, a sixth rotating shaft O6 is arranged at the hinge point, see Figure 5a ; preferably, the support column motor upper support point 407 between the output ends and the support column rear section 401 is close to the top or middle of the support column rear section 401 and is located on the side of the support column rear section 401 close to the support column front section 402, so that the folding angle of the seat is larger.

[0079] That is to say, in this embodiment, the support column rear section 401, the support column top connector 403, the support column front section 402 and the support column base 105 constitute a four-bar linkage mechanism, and the support column rear section 401, the support column top connector 403 and the support column front section 402 in the four-bar linkage mechanism can rotate relative to the support column base 105 under the driving of the support column motor 404, so as to realize folding of the seat. Of course, the specific folding angle can be controlled by the support column motor 404.

[0080] Further, referring to Figure 6 and Figure 7 , the two sides of the support column rear section 401 are curved in the direction close to the support column front section 402 to form first side wings 401a, and the two sides of the support column front section 402 are curved in the direction close to the support column rear section 401 to form second side wings 402a, wherein the second side wings 402a are located inwardly of the first side wings 401a and have a gap therebetween; see Figure 6When the foldable seat is raised to its highest position, the rear section 401 of the support column and the front section 402 of the support column are aligned in the front-rear direction (e.g., Figure 6 The distance between the two sides (as indicated by the double arrows) is the largest, and the front end of the second side wing 402a near the rear section 401a of the support pillar is obscured by the front end of the first side wing 401a near the front section 402 of the support pillar (that is, the front ends of the two overlap, but they do not touch). In other words, when viewed from the left and right sides of the seat support pillar 4, the front end of the second side wing 402a is obscured by the front end of the first side wing 401a, making the front and rear sections of the support pillar appear as a single unit. When the foldable seat is lowered to its lowest position, the distance between the rear section 401a and the front section 402 of the support pillar in the front-back direction (as indicated by the double arrows) is the largest, and the front end of the second side wing 402a near the rear section 401a of the support pillar is obscured by the front end of the first side wing 401a near the front section 402 of the support pillar. Figure 7 The spacing between the two sides (as indicated by the double arrows) is the smallest, and the first side wing 401a completely obscures the second side wing 402a (but the two do not contact each other). That is, when viewed from the left and right sides of the seat pillar 4, the front section 402 and the rear section 401 of the pillar are still a single unit, but the second side wing 402a is almost completely obscured by the first side wing 401a. See [reference needed]. Figure 7 This reduces the size of the seat support. Preferably, to avoid interference between the two side wings, the curvature of the first side wing 401a is greater than that of the second side wing 402a. This ensures that when the seat is in its lowest position, the gap between the front end of the second side wing 402a and the inner side of the end of the first side wing 401a (i.e., the end connected to the rear section 401 of the support) is smaller than the gap between the end of the second side wing 402a (i.e., the end connected to the front section 402 of the support) and the front end of the first side wing 401a. Figure 7 As shown. Of course, going a step further, the front end of the second wing 402a is provided with an inclined surface near the outer side of the first wing 401, thereby further preventing interference.

[0081] Further, in some embodiments, one side of the backrest 6 is provided with a seat adjustment button 20 for controlling the support motor 404, so that the user can control the support motor 404 through the seat adjustment button 20, thereby achieving manual adjustment of the folding angle of the seat, i.e. the height of the seat. For example, when pressed continuously, the seat is continuously lowered or raised by the support motor 404, and when the pressing is stopped, the lowering or raising is stopped. That is, the support motor 404 is controlled by the seat adjustment button 20, and the support motor 404 drives the support motor upper support rod 405 and the support motor lower support rod 406 to extend and shorten, so that the support rear section 401 rotates relative to the lower vehicle body frame 101 and the support base 105, and the support top connector 403 moves upward smoothly under the action of the four-bar linkage structure. The entire folding mode adopts a four-bar linkage mechanism, which is more stable and safer than two-bar or three-bar mechanisms; and in order to adapt to different sitting postures in different application scenarios (for example, when walking, the axis of the seat cushion is above the horizontal line and has a certain angle with the horizontal line; and when entering under a table, the axis of the seat cushion is parallel to the horizontal line), the four-bar linkage mechanism does not adopt a parallelogram structure to adapt to the adjustment of different sitting postures.

[0082] Further, the back of the backrest 6 is provided with a rear indicator light 16 and a rear display 17, and the lower vehicle body 1 is provided with a battery 19, which is electrically connected with the support motor 404 to supply power to the support motor 404. Of course, the battery 19 can also supply power to other electronic devices. For example, the rear indicator light 16, the rear display 17, etc. described above. Of course, if the electric scooter is also provided with a central controller, the battery also supplies power to the central controller.

[0083] Further, the control handle 9 is provided on any one of the armrests 8, so that the user can control the direction of travel of the electric scooter through the control handle 9. Further, the other armrest 8 is provided with a mobile phone holder 11.

[0084] Of course, the above-described foldable mechanism of the electric scooter in the present embodiment can also be applied to other devices to achieve the adjustment of the height of the target object and the fine adjustment of the horizontal displacement. Of course further, the angle between the bottom of the target object and the horizontal plane (or the plane on which the device provided with the foldable mechanism is located) can also be adjusted, for example, the angle between the fourth connecting rod and the plane M between the first rotation shaft O1 and the fourth rotation shaft O4.

[0085] In order to make the electric wheelchair and other electric walking aids more stable during driving, thereby enabling the user to obtain a more comfortable feeling, a damping mechanism is generally installed at the rear wheel position of the electric wheelchair. At present, the rear wheel damping structure is mostly a single iron plate fixedly connected with the driving motor, and the overall weight is increased after the motor is movably connected with the wheel. During driving and sitting or lying, a relatively large gravity effect is generated, the single iron plate has poor bearing capacity and low stability, thereby causing low use safety. Therefore, various rear wheel damping devices applied to electric wheelchairs are proposed in the prior art.

[0086] For example, the invention patent application with publication number CN114514009A buffers by arranging a spring in the vertical direction to absorb the up-down vibration, thereby ensuring the stability during driving. For another example, the Chinese utility model patent with publication number CN219423175U discloses a novel wheelchair rear wheel damping device, which realizes the connection of the left, right and bottom three points with the frame body through a triangular structure of a triangular mounting mechanism added on the basis of the original electric wheelchair rear wheel damping device installation, and has more stability according to the engineering mechanics principle. In view of this, the utility model also provides another electric walking aid, which is seen from Figure 1 and Figure 8 The electric walking aid also comprises a damping device 5, specifically, the damping device 5 comprises: a rear suspension for supporting a wheel, and a rear shock absorber 502 arranged on one side of the rear suspension; wherein,

[0087] The rear suspension comprises: a suspension lug fixedly connected with a lower vehicle body framework 101 of the electric walking aid, a rear swing arm 501 movably connected with the suspension lug through a swing arm rotating shaft 506, one side of the rear swing arm 501 fixedly connected with a wheel motor mounting bracket 304 mounted on the lower vehicle body framework 101, and the bottom of the rear swing arm 501 movably connected with one end of the rear shock absorber 502, and the other end of the rear shock absorber 502 movably mounted on the lower vehicle body framework 101, and the axial direction of the rear shock absorber 502 is parallel to the length direction of the electric walking aid (such as Figure 8 the Y-axis direction in FIG. 1); wherein the connecting point between the rear swing arm 501 and the wheel motor mounting bracket 304, the connecting point between the rear swing arm 501 and the rear shock absorber 502, and the swing arm rotating shaft 506 form a triangle, and the plane of the triangle is parallel to the axial direction of the rear shock absorber 502 (or the axial direction of the rear shock absorber 502 is located in the plane of the triangle), thereby converting the up-down vibration of the wheel motor mounting bracket 304 along the longitudinal direction into the axial movement of the elastic buffering component in the rear shock absorber 502 through the rear swing arm 501.

[0088] Preferably, the rear swing arm 501 adopts a triangular structure, in which one vertex is the connecting point of the rear swing arm 501 and the rear shock absorber 502, and the other two vertices are respectively the connecting point between the rear swing arm 501 and the wheel motor mounting bracket 304 and the mounting point of the swing arm rotating shaft 506. Preferably, the rear swing arm 501 adopts a right-angled triangle, and the hypotenuse side is close to the rear wheel 3, and the vertex between the two right-angled sides is mounted with the swing arm rotating shaft 506.

[0089] In some embodiments, the axial direction of the elastic buffering component is parallel to the horizontal direction (such as the Y-axis direction in the figure). Figure 8 Preferably, the rear shock absorber 502 is a reverse pull type shock absorber.

[0090] Referring to Figure 8 and Figure 9 , the rear shock absorber specifically includes: a shock absorber spring 504 (i.e. an elastic buffering component), a shock absorber inner shaft 505, and a shock absorber outer shaft base, which is installed on the shock absorber inner shaft 505 in a slidable manner, wherein,

[0091] One end of the shock absorber inner shaft 505 is rotationally connected to the lower vehicle body frame 101 (specifically, refer to Figure 8 and Figure 9 , a shock absorber front mounting seat 107 is fixedly arranged on the lower vehicle body frame 101, and the shock absorber front mounting seat 107 is rotationally connected to one end of the shock absorber inner shaft 505 through a shock absorber inner shaft connecting point 108. Preferably, the shock absorber inner shaft connecting point 108 adopts a connecting shaft (such as a bolt), and the axial direction of the connecting shaft is perpendicular to the axial direction of the shock absorber inner shaft 505), and the other end is rotationally connected with the rear swing arm 501.

[0092] The shock absorber spring 504 is sleeved on the shock absorber inner shaft 505, and one end of the shock absorber spring 504 abuts against a first base body 503a at one end of the shock absorber outer shaft base, and the other end abuts against a second base body 503c at the other end of the shock absorber outer shaft base. Referring to Figure 9 , the first base body 503a and the second base body 503c are fixedly connected together through a shock absorber outer shaft pull rod 503b.

[0093] Referring to Figure 8 and Figure 9In some embodiments, one end of the damper inner shaft 505 is connected to the damper front mounting seat 107 at the damper inner shaft connecting point 108 after penetrating through the first base body 503a, and the other end is fixedly connected with the damper inner shaft base 505a, which is slidably connected with the second base body 503c through the first connecting rod 507. The first connecting rod 507 is fixedly connected with the second base body 503c and can slide along the axial direction of the damper inner shaft 505. Preferably, referring to Figure 8 and Figure 9 , the other end of the damper spring 504 abuts against the damper inner shaft base 505a. The side of the second base body 503c away from the damper inner shaft 505 is rotatably connected with the rear swing arm 501 at the damper outer shaft connecting point 503d through the second connecting rod 508 fixedly connected with the second base body 503c. Preferably, the first connecting rod 507 and the second connecting rod 508 are coaxially arranged (i.e., the axial directions of the two are coincident), or they are one component.

[0094] Preferably, referring to Figure 1 and Figure 1 , the rear damper 502 is arranged on one side of the lower vehicle body framework 101 of the electric scooter and located at the front side of the rear suspension, and the axial direction of the rear damper 502 is parallel to the length direction of the lower vehicle body framework 101 (i.e., the direction of the Y axis in the figure).

[0095] Preferably, the above-mentioned suspension lug includes a lug base 1041 fixedly installed on the lower vehicle body framework 101, and a lug body arranged in an L shape at the top of the lug base 1041. Specifically, the lug body includes a first body 1042a and a second body 1042b connected vertically, wherein the first body 1042a is fixedly connected to the top of the lug base 1041 at an end thereof away from the second body 1042b, and the second body 1042b extends from the end of the first body 1042a away from the lug base 1041 in a direction perpendicular to the axial direction of the first body 1042a and close to the lower vehicle body framework 101, so that an installation space for installing the rear swing arm 501 is formed between the inner side of the second body 1042b, the inner side of the first body 1042a and the outer side of the lug base 1041; and the wheel motor mounting bracket 304 is installed on the rear wheel 3 and is fixedly connected to the rear swing arm 501 at an end thereof. Thus, the connection point between the rear swing arm 501 and the wheel motor mounting bracket 304, the connection point between the rear swing arm 501 and the rear shock absorber 502, and the swing arm rotation axis 506 form a triangle, and the plane of the triangle is parallel to the axial direction of the rear shock absorber 502 (or the axial direction of the rear shock absorber 502 is located in the plane of the triangle), and the distance between the plane of the triangle and the lower vehicle body framework is less than the distance between the outermost side of the rear wheel 3 and the lower vehicle body framework, so that not only the up-and-down vibration of the wheel motor mounting bracket 304 in the longitudinal direction is converted into the axial movement of the elastic buffering component in the rear shock absorber 502 through the rear swing arm 501, but also the overall width of the electric scooter is reduced, and the passability of the electric scooter is improved to some extent.

[0096] In Embodiment 4, the user group of the electric scooter is the elderly and the disabled, who are slow to react. If the speed control lever cannot be released in time, the electric scooter will collide with pedestrians or obstacles, causing damage to the user and others. In addition, when the electric scooter is running on uneven road surfaces, it is difficult to maintain a comfortable speed. Furthermore, the user is in a sitting position during running, and the field of view is limited, so some obstacles or special road conditions (e.g., potholes) cannot be discovered in time, making the running process not comfortable. Moreover, with the intelligentization of electric scooters, some high-end scooters are equipped with path planning and obstacle avoidance auxiliary intelligent systems. These systems need to collect road conditions or the surrounding environment through sensors and other sensing devices to make better decisions. Therefore, various sensors and radar devices are constantly being proposed to be installed in electric scooters to sense the road conditions.

[0097] For example, the Chinese patent application CN106542029A discloses an old intelligent scooter, which is provided with a detector electrically connected with a controller. The detector includes a first detector and a second detector, which are respectively used to collect pedestrians and obstacles in front of and behind the driver. The scooter is also provided with a first camera device electrically connected with the controller, which is used to collect the road surface condition in front of the driver and transmit the collected signal to the controller. The controller is embedded with a road speed module. The controller selects the corresponding road speed through the road speed module according to the collected road surface condition and instructs the driving speed of the motor.

[0098] For another example, the Chinese utility model patent CN203652012U discloses an electric scooter detection device, which is provided with radar detection members (such as automobile reversing radar or ultrasonic wave, infrared ray, etc.) on the front and rear edges of the frame, and is provided with vibration detection members and balance detection members at appropriate positions of the frame. When the radar detection members detect road obstacles or the vibration detection members detect uneven ground, the balance detection members are combined to drive the transmission unit to drive the clamping arm of the fork wheel unit to rotate, so that the electric scooter can climb slopes or stairs.

[0099] However, the above-mentioned electric scooters only consider the detection of the front and rear ends of the vehicle, and ignore other directions, such as the left front and right front, and different detection heights. That is, the detection device or sensing system of the existing electric scooters still needs to be improved. In view of this, see Figure 2 The electric scooter includes a lower vehicle body 1, a pedal 21 arranged at the front end of the lower vehicle body 1, an anti-toppling mechanism 18 arranged at the rear end of the lower vehicle body 1 (the specific structure of the anti-toppling mechanism 18 is described in Embodiment 5, which is not repeated here), and a sensing system arranged on the electric scooter. Specifically, the sensing system includes an ultrasonic sensing module and a laser radar module arranged at the front end of the pedal 21, and a distance sensor 10 arranged on the armrest 8 of the foldable seat, so that obstacles and other targets in front of the electric scooter during travel can be obtained from different heights or different detection ranges.

[0100] See Figure 1 and Figure 2The ultrasonic sensing module comprises two ultrasonic radars 14 symmetrically arranged on the front side of the footboard 21, two ultrasonic radars 14 arranged on the left and right sides of the footboard 21 respectively, and at least two ultrasonic radars 14 arranged on the protective cover 30 of the rear wheels 3. Preferably, the protective cover 30 is provided with one ultrasonic radar 14 corresponding to the position of each of the two rear wheels 3; and the middle part of the protective cover 30, i.e., the position corresponding to the anti-toppling mechanism 18, is also provided with one ultrasonic radar 14, and the height of the ultrasonic radar 14 in the middle part of the protective cover 30 from the ground is lower than the height of the ultrasonic radars 14 on the left and right sides of the protective cover 30 from the ground.

[0101] Referring to Figure 1 The above laser radar module adopts a laser radar 13 arranged between the two ultrasonic radars 14 on the front side of the footboard 21.

[0102] In order to avoid obstacles and other requirements, a corresponding detection component, such as an ultrasonic radar, a laser radar, etc., is usually arranged on the front and rear sides of the scooter to detect the distance, provide data reference for obstacle avoidance system or path planning, or timely remind the user. However, in the prior art, only the front and rear directions are considered for detection, and other directions (for example, the left front or right front, especially when turning, the detection of the left front or right front is very important) are ignored. In addition, considering the cost, it is not necessarily better to have more detection components, and there are many types of detection components. Therefore, it is very important to reasonably utilize the cooperation and installation positions of various detectors on the basis of limited detection components, so as to cover most of the sensing directions required during the driving of the scooter without greatly increasing the cost, which will seriously affect the product promotion and consumer acceptance. If too much emphasis is placed on high detection accuracy and more detection components or high-cost detection components are used, the cost will be too high, the consumer acceptance will be too low, and the product promotion will be difficult. If the cost is too low, the detection accuracy will not meet the requirements, which will reduce the user experience, thereby reducing the consumer acceptance and making the product promotion very difficult.

[0103] In the prior art, a detection component is usually arranged in the middle part of the front or rear end of the scooter. For a scooter with a relatively narrow width, the detection range is sufficient. However, for a four-wheeled scooter with a certain width, the detection range is very limited, and it may even be impossible to detect the situation near the wheels on both sides. Therefore, in the present embodiment, two ultrasonic radars 14 are arranged on the front side of the footboard 21 to realize short-distance detection at a first height, and the detection range between the two ultrasonic radars 14 almost covers the detection range in front of the wheels on both sides.

[0104] In addition, the electric scooter frequently changes the driving direction during driving, such as turning. If only one detection component is arranged at the middle of the front end of the scooter to detect the front area, the situation near the vehicle or the wheels cannot be detected during turning. The situation near the vehicle or the wheels is often detected until the turning reaches a certain angle or even expands to an obstacle, which greatly reduces the user experience. Therefore, in the embodiment, one ultrasonic radar 14 is arranged on each of the left and right sides of the pedal 21 to detect the road conditions in the left front detection area and the right front detection area.

[0105] Further, since the two front wheels 2 are installed on the two sides of the front end of the lower vehicle body frame 101, and the pedal 21 is also installed on the front end of the lower vehicle body frame 101, and the middle axis of the connection between the pedal 21 and the front end of the lower vehicle body frame 101 is almost tangent to the front wheels 2, so that the front wheels 2 are also within the detection range of the ultrasonic radar 14.

[0106] More preferably, the ultrasonic radar 14 is arranged at the middle of each of the left and right sides of the pedal 21. That is, the distance between the ultrasonic radar 14 and the front end of the pedal 21 is the same as the distance between the ultrasonic radar 14 and the front wheels 2, so that the ultrasonic radars 14 on the left and right sides and the two ultrasonic radars 14 at the front end of the pedal 21 realize multi-directional detection of the front, left front, and right front of the pedal. If the installation position of the ultrasonic radar 14 is closer to the front end of the pedal 21, the road conditions around the front wheels 2 cannot be detected. If it is too close to the front wheels 2, it may not be able to work cooperatively with the ultrasonic radar 14 at the front end to realize seamless connection between the front and left front / right front. Therefore, in the embodiment, the ultrasonic radar 14 is arranged at the middle of each of the left and right sides of the pedal 21, so that its detection range can be connected with (that is, partially overlapped or adjacent to) the detection range of the ultrasonic radar 14 at the front end, while covering the detection range near the front wheels 2.

[0107] However, it is not enough to only arrange the ultrasonic radar 14 at the front end. On the one hand, the detection distance of the ultrasonic radar 14 is limited, and on the other hand, its accuracy is low and is easily disturbed by noise. Therefore, in order to increase the detection accuracy, a laser radar 13 is arranged at the middle of the pedal 21 in the embodiment as an auxiliary to work cooperatively with the ultrasonic radar 14 to realize detection. If multiple laser radars 13 are arranged at the front end of the pedal 21 in order to pursue accuracy and detection distance, the cost will inevitably be greatly increased, and the detection data of a single type of detection component is less reliable once the environment changes. Therefore, in the embodiment, different types of detection components are arranged at the front end to detect, so that the data between the two types of detection components can be verified with each other once the environment changes. Of course, another detection component that is more suitable for the current environment can also be started alone.

[0108] Compared with the front end of the electric scooter, the rear end of the electric scooter is usually only needed to be paid attention to when reversing, and only needs to be concerned about the situation within a short distance range, therefore, if the rear end adopts the same layout of detection components as the front end, not only the cost is increased, but also the detection components are not effectively utilized, and resources are wasted. Therefore, in the embodiment, three ultrasonic radars 14 are arranged on the protective cover 30 of the rear wheels 3, and among them, two ultrasonic radars 14 correspond to the upper rear of the rear wheels 3 respectively, and the third ultrasonic radar 14 is located between the two, and its height is lower than that of the two ultrasonic radars 14, so as to realize detection at different heights.

[0109] In the embodiment, since the rear wheels 3 are higher than the front wheels, in order to facilitate reversing, ultrasonic radars 14 are arranged on the protective cover 30 corresponding to the positions of the two rear wheels 3 to perform detection, so as to realize obstacle avoidance of the rear wheels 3 and the like.

[0110] At the same time, since the rear end of the electric scooter is also provided with an anti-toppling mechanism 18 between the two rear wheels 3, and the anti-toppling mechanism 18 is long and low, if only ultrasonic radars 14 are arranged on the protective cover 30 corresponding to the positions of the two rear wheels 3, due to the high position, the anti-toppling mechanism 18 is in the blind area of the two ultrasonic radars 14, thereby causing inconvenience to the reversing process, and even unable to avoid obstacles and the like. And since the anti-toppling mechanism 18 has a certain width, in the embodiment, on the basis of arranging ultrasonic radars 14 corresponding to the two rear wheels 3, an ultrasonic radar 14 is also arranged above the anti-toppling mechanism 18 in the middle of the protective cover 30 (i.e. the distance between the ultrasonic radars 14 on both sides is the same), thereby ensuring the safety and smoothness of the electric scooter during reversing.

[0111] In the driving process, in addition to considering short-distance detection, long-distance detection is also needed, on the one hand, so that the road conditions in front can be known in advance to make corresponding decisions in advance, such as switching paths or turning, and the like. Therefore, in the embodiment, a distance sensor 10 is arranged at the front end of any armrest 8 of the foldable seat. Preferably, the distance sensor 10 adopts a TOF distance sensor.

[0112] Compared with short-distance detection, long-distance detection usually only needs to know the situation within a certain range in front of the driving direction, without considering the situation in a large range (such as the surroundings), therefore, a TOF distance sensor with limited detection angle but long detection distance is arranged. And the distance sensor is directly arranged on the armrest 8, so as not to need a separate mounting bracket for installation, not only reducing the cost, but also making the distance sensor can be protected together with the armrest.

[0113] Further, the pedal 21 is rotatably arranged at the front end of the lower vehicle body frame 101 of the lower vehicle body 1, so that the ultrasonic radar and the laser radar can also be folded and stored according to the pedal 21, and further protected, avoiding external collision and the like.

[0114] Further, an anti-collision groove 23 protruding in the driving direction is arranged at the front end of the pedal 21, so that the laser radar 13 can be installed in the anti-collision groove 23. By arranging the anti-collision groove 23, on the one hand, the laser radar 13 can be protected, and on the other hand, even if there is an obstacle at the front end, once the anti-collision groove 23 collides with the obstacle, the user can be aware in advance, so as to avoid further driving forward to cause the ultrasonic radar 14 to be collided. Preferably, the anti-collision groove 23 is located on the central axis of the pedal 21, that is, in the middle of the front side of the pedal 21, and the distance between the anti-collision groove 23 and any ultrasonic radar on the front side of the pedal 21 is equal to half the distance between the anti-collision groove 23 and any end of the front side of the pedal 21. That is, the laser radar and the ultrasonic radar divide the front side of the pedal 21 into four equal parts.

[0115] Further, referring to Figure 2 , the sensing system further comprises an image acquisition module arranged at the rear side of the foldable seat. Preferably, the image acquisition module comprises: a rear camera 15 arranged at the bottom of the rear side of the backrest 6 of the electric scooter.

[0116] Further, referring to Figure 10 , the distance sensor 10 adopts a Tof distance sensor.

[0117] Embodiment 5: The utility model also provides another electric scooter, referring to Figure 11 , the electric scooter further comprises an anti-toppling mechanism 18 arranged at the rear side. Specifically, referring to ​ and ​ , the anti-toppling mechanism 18 comprises:

[0118] Compression spring 181 (and first elastic component), its surface is coated with anti-rust coating to prolong the service life, one end of compression spring 181 is fixedly connected on the inner wall of lower car body 1, the other end of compression spring 181 is fixedly connected with guide plate 182, the guide plate 182 adopts high-strength alloy material to improve durability, the outer wall of guide plate 182 is slidably connected with the inner wall of lower car body 1, the outer wall of guide plate 182 is rotatably connected with anti-tilt roller 183;Trigger spring 184 (i.e. second elastic component), high-elasticity alloy material is selected to improve the resilience, one end of trigger spring 184 is fixedly connected on the inner wall of lower car body 1, the other end of trigger spring 184 is fixedly connected with trapezoidal block 185, the surface of trapezoidal block 185 is provided with wear-resistant coating, the outer wall of trapezoidal block 185 is slidably connected with the inner wall of lower car body 1, the bottom of trapezoidal block 185 is fixedly connected with vertical rod 186, the bottom of vertical rod 186 is rotatably connected with trigger roller 187, the bearing part of trigger roller 187 adopts sealed lubrication design.

[0119] The electric scooter of the utility model can be driven by controlling the handle 9 to control the rear wheel 3, at this time, the trigger roller 187 is in contact with the ground under the action of the trigger spring 184, when the lower car body 1 is inclined, the lower car body 1 is inclined with the ground, at this time, the trigger roller 187 continues to move downward under the action of the trigger spring 184, so that the trigger spring 184 drives the trapezoidal block 185 to move downward, at this time, the trapezoidal block 185 is no longer clamped with the guide plate 182, so that the guide plate 182 is popped out under the action of the compression spring 181, so that the guide plate 182 drives the anti-tilt roller 183 to extend and be in contact with the ground, so that the inclined lower car body 1 has an additional supporting point with the ground, which prevents the electric scooter from being overturned, and improves the stability of the electric scooter in the inclined state and avoids the safety hazard caused by overturning.

[0120] The damping device, the sensing system and the foldable mechanism of the electric scooter can be combined arbitrarily, that is, any one of them can be applied to the electric scooter alone, two of them can be combined and applied to the electric scooter, and all of them can be applied to the same electric scooter.

[0121] It should be noted that in this document, the terms "comprise", "comprise", or any other variant thereof are intended to cover non-exclusive inclusions, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the existence of another identical element in the process, method, article or device comprising the element.

[0122] The embodiments of the present application are described above with reference to the drawings; however, the present application is not limited to the specific embodiments described above, but the specific embodiments described above are merely illustrative rather than restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and these all belong to the protection of the present application.

Claims

1. A folding mechanism for a foldable seat in an electric mobility scooter, characterized in that: The system includes a four-bar linkage for folding the foldable seat, and a drive mechanism for driving the four-bar linkage to fold. The four-bar linkage includes: A fourth link is provided at the bottom of the foldable seat. One end of the fourth link is rotatably connected to one end of the first link via a first pivot O1, and the other end is rotatably connected to one end of the third link via a fourth pivot O4. The other end of the first link is rotatably connected to one end of the second link via a second pivot O2, and the other end of the third link is rotatably connected to the other end of the second link via a third pivot O3. The drive mechanism includes a support motor (404), the output end of which is rotatably connected to the third link via a sixth rotating shaft O6.

2. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 1, characterized in that: The second link is fixedly installed on the lower body (1) of the electric mobility scooter.

3. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 1, characterized in that: The connecting end of the support motor (404) is rotatably connected to the lower body (1) of the electric mobility scooter via the fifth rotating shaft O5; and / or, the output end of the support motor (404) includes: a telescopically connected upper support rod (405) and a lower support rod (406) of the support motor, the free end of the upper support rod (405) of the support motor is hinged to the third connecting rod.

4. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 3, characterized in that: The free end of the support rod (405) on the support motor is hinged to one end of the third connecting rod near the fourth rotating shaft O4.

5. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 3, characterized in that: When the folding mechanism is installed on the lower body (1) of the electric mobility scooter, the height of the second pivot O2 relative to the plane of the lower body (1) of the electric mobility scooter is less than the height of the third pivot O3 relative to the plane of the lower body (1) of the electric mobility scooter.

6. The folding mechanism for a foldable seat in an electric mobility scooter according to any one of claims 1 to 5, characterized in that: The second link is a support base (105) fixedly installed on the lower body (1) of the electric mobility scooter. The support base (105) includes a first fixing plate (1051), and a second fixing plate (1052) and a third fixing plate (1053) located on both sides of the first fixing plate (1051) and parallel to each other. When the support base (105) is installed on the lower body (1) of the electric mobility scooter, the height of the second fixing plate (1052) is lower than the height of the third fixing plate (1053).

7. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 6, characterized in that: The second fixing plate (1052) is provided with a front support bracket (103) for the support column, and the third fixing plate (1053) is provided with a rear support bracket (106) for the support column. The second rotating shaft O2 is provided on the front support bracket (103) for the support column, and the third rotating shaft O3 is provided on the rear support bracket (106) for the support column.

8. The folding mechanism for a foldable seat in an electric mobility scooter according to any one of claims 1 to 5, characterized in that: The first link and the third link are respectively the front section (402) and the rear section (401) of the support pillar (4) that enclose and form the seat support pillar (4), wherein, The two ends of the front section (402) of the support column are rotatably connected to the fourth link and the second link respectively through the first pivot O1 and the second pivot O2; the two ends of the rear section (401) of the support column are rotatably connected to the second link and the fourth link respectively through the third pivot O3 and the fourth pivot O4.

9. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 8, characterized in that: The length of the front section (402) of the support column is greater than the length of the rear section (401) of the support column.

10. The folding mechanism for a foldable seat in an electric mobility scooter according to claim 8, characterized in that: The two sides of the rear section (401) of the support are bent in a direction close to the front section (402) of the support to form a first side wing (401a), and the two sides of the front section (402) of the support are bent in a direction close to the rear section (401) of the support to form a second side wing (402a). The second side wing (402a) is located inside the first side wing (401a) and there is a gap between them. When the foldable seat is raised to its highest position, the front end of the second side wing (402a) near the rear section (401) of the support column is blocked by the front end of the first side wing (401a) near the front section (402) of the support column. When the foldable seat is lowered to its lowest position, the first side wing (401a) completely covers the second side wing (402a).

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