A sliding rod linkage three-state transformation wheelchair mechanism

Abstract

This utility model discloses a sliding rod-linked three-state transformation wheelchair mechanism, including a backrest structure, a seat structure, an armrest structure, a posture transformation structure, a chassis structure, foot pedals, front wheels, and rear wheels. This utility model uses an electric push rod hinged at one end to the front chassis rod to drive a sliding rod to slide on a slide rail. Simultaneously, the sliding rod links two actuators: one pulls the sliding rod-backrest linkage rod connected to the backrest, causing the backrest support to rotate around the hinge axis between the backrest pivot and the seat pivot; the other pulls the movable ends of the rear and front links of a four-bar linkage mechanism, with the seat as the movable link and the frame end hinged and fixed to the side chassis rod. This synchronously drives the rotation of the backrest and the rotation of the rear and front links of the four-bar linkage mechanism, achieving coordinated transformation of the backrest angle and the seat posture. This utility model integrates a push rod-slide rail-linkage integrated power transmission chain, which can simultaneously decompose a single-point linear driving force into a composite action of backrest rotation and seat displacement.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation robots, specifically a sliding rod linkage three-state transformation wheelchair mechanism. Background Technology

[0002] With the accelerating aging population and the increasing demands for chronic disease management, the intelligent transformation of age-friendly assistive devices is urgently needed. Traditional products generally suffer from systemic defects: mainstream multi-posture wheelchairs typically use multiple independent drive modules to control the movement of different components. This split-power layout leads to insufficient coordination of the actuators, significant delays during posture transitions, and movement deviations between different modules can easily cause instability in the support structure, seriously affecting safety. More importantly, traditional designs, in pursuit of functional expandability, excessively add structural components, causing the overall weight to exceed ergonomically reasonable limits. This not only reduces portability but also exacerbates range anxiety due to increased energy consumption. These design flaws expose the fundamental deficiencies of traditional solutions in terms of power integration, safety redundancy, and human-computer interaction adaptability, making it difficult to meet users' combined needs for comfort, responsiveness, and safety.

[0003] Application No. 202411565331.X discloses a foldable multi-functional assistive wheelchair, which employs a manual, step-by-step operation mode with three sets of support rods, four separate hinges, and dual pedal pivots to achieve functional transformation. However, the complex operation process with seven manual adjustment points (3 support rods + 2 seat hinges + 2 pedals) requires users to frequently adjust multiple components manually, making the operation cumbersome and time-consuming, greatly reducing ease of use. During manual operation, users need to get up or make large-scale limb movements, posing a safety risk of falls and collisions due to operational errors. This is particularly unfriendly to people with mobility impairments. The step-by-step operation mode makes it difficult to achieve coordinated control of backrest rotation and seat lifting, failing to accurately and quickly achieve the desired posture and failing to meet users' needs for efficient, safe, and comfortable wheelchair use. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the technical problem to be solved by this utility model is to provide a sliding rod linkage three-state transformation wheelchair mechanism.

[0005] The technical solution of this utility model to solve the aforementioned technical problem is to provide a sliding rod linkage three-state transformation wheelchair mechanism, characterized in that the mechanism includes a backrest structure, a seat structure, an armrest structure, a posture transformation structure, a chassis structure, foot pedals, a front wheel, and a rear wheel;

[0006] The rear wheels are mounted at the rear of the chassis structure, and the front wheels are mounted at the front of the chassis structure; one end of the foot pedal is hinged to the front of the chassis structure for placing the human foot.

[0007] The backrest structure includes a backrest bracket, a backrest, a backrest armrest connecting shaft, a sliding backrest linkage connecting shaft, and a backrest pivot seat.

[0008] The back panel is fixed in the back panel bracket; a back panel armrest connecting shaft and a slide back panel linkage connecting shaft are fixed in the middle of both sides of the back panel bracket; the ends of both sides of the back panel bracket are fixedly connected to one end of a back panel pivot seat.

[0009] The seat structure includes a seat bracket, a front seat bracket, an armrest support rod connecting shaft, a slide rail, a seat, a rear seat bracket, and a seat shaft seat;

[0010] The seat plate is fixed in the seat plate bracket; the rear seat plate bracket is fixed to the rear part of the bottom surface of the seat plate bracket; the front seat plate bracket is fixed to the front part of the bottom surface of the seat plate bracket; the ends of both sides of the seat plate bracket are respectively fixedly connected to one end of a seat plate pivot seat; the connecting shafts of the two armrest support rods are respectively fixed to the middle of both sides of the seat plate bracket; the two slide rails are respectively fixed to the middle of both sides of the seat plate bracket; the other end of the seat plate pivot seat is respectively hinged to the other end of its respective back plate pivot seat.

[0011] The handrail structure includes a handrail bar, a handrail sleeve, and a handrail support bar;

[0012] One end of each of the two handrails is rotatably mounted on its respective backrest handrail connecting shaft, and the other end is hinged to one end of its respective handrail support rod; the other end of the handrail support rod is rotatably mounted on its respective handrail support rod connecting shaft; handrail gloves are mounted on their respective handrails for placing human hands.

[0013] The attitude transformation structure includes a sliding rod back plate linkage rod, a four-bar linkage rear link, a sliding rod four-bar linkage rear link connecting rod, a sliding rod, a four-bar linkage front link, an electric push rod, a four-bar linkage front link connecting shaft, and a four-bar linkage rear link connecting shaft;

[0014] One end of the electric actuator is hinged to the front of the chassis structure; one end of each of the two four-bar linkages is hinged to the front of both sides of the chassis structure; the connecting shaft of the four-bar linkage is fixed to the other end of the two four-bar linkages; the front support of the seat plate is hinged to the connecting shaft of the four-bar linkage.

[0015] One end of each of the two four-bar linkages is hinged to the rear of both sides of the chassis structure; the rear support of the seat plate is hinged to the other end of each of the two four-bar linkages; the beginning of each of the two sliding bar four-bar linkage connecting rods is hinged to the middle of their respective four-bar linkages; the sliding rod is fixed to the end of each of the two sliding bar four-bar linkage connecting rods; both ends of the sliding rod pass through their respective slide rails and slide along their respective slide rails; one end of each of the two sliding rod backplate linkage rods is rotatably mounted on both ends of the sliding rod, and the other end is rotatably mounted on the connecting shaft of each sliding rod backplate linkage rod; both ends of the four-bar linkage rear linkage connecting shaft are rotatably mounted on the middle of the two four-bar linkages; the other end of the electric push rod is interference-fitted and fixed to the middle of the four-bar linkage rear linkage connecting shaft.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] (1) Coordinated power transmission: The integrated push rod-slide rail-connecting rod integrated power transmission chain can simultaneously decompose the single-point linear driving force into a compound action of back plate rotation and seat plate displacement, eliminating the motion lag and inertial impact present in traditional multi-motor systems. Moreover, with the characteristic that the push rod can be locked at any position, the entire mechanism can be locked in any position state, ensuring stability during use.

[0018] (2) Convenient Three-State Transformation: The posture transformation mechanism utilizes the slide rail posture decoupling principle and rigid linkage transmission, requiring only a single push rod to coordinate the transformation between folding, sitting, and lying positions. The horizontal displacement component of the slide rod is converted into rotational motion around a pivot fixed to the seat plate via the back plate transmission component, while the vertical component is converted into seat plate lifting via a parallelogram mechanism, realizing the linkage of the support mechanism, seat plate, back plate, and armrests, ensuring the continuity of posture transformation.

[0019] (3) Easier and safer operation: Utilizing a single actuator with dual degrees of freedom, the system achieves coordinated rotation of the backplate and lifting of the seat plate with a single button via a slide rail-parallelogram coupling system. Only a single push rod is needed, reducing the number of operating parts. Users can complete posture changes without leaving their seats, avoiding the safety risks and efficiency losses associated with manual operation. This invention greatly simplifies the operation process and improves safety.

[0020] (4) Linkage and Coordination Transformation: This utility model drives the slide rod to slide on the slide rail through an electric push rod that is hinged to the front chassis rod at one end. At the same time, the slide rod links two execution ends: one pulls the slide rod-back plate linkage rod connected to the back plate to make the back plate bracket rotate around the hinge axis of the back plate pivot seat and the seat plate pivot seat; the other pulls the movable ends of the four-bar linkage rear link and the four-bar linkage front link, which are hinged and fixed to the side chassis rod with the seat plate as the movable link. Thus, the rotation of the back plate and the rotation of the four-bar linkage rear link and the four-bar linkage front link are driven synchronously to realize the coordinated transformation of the angle of the back plate and the posture of the seat plate. Attached Figure Description

[0021] Figure 1 This is an isometric schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a front view schematic diagram of the overall structure of this utility model in an upright sitting position;

[0023] Figure 3 This is a front view schematic diagram of the overall structure of this utility model in its folded state;

[0024] Figure 4 This is a front view schematic diagram of the overall structure of this utility model in a lying position;

[0025] Figure 5 This is a schematic diagram of the backrest structure of this utility model;

[0026] Figure 6 This is a schematic diagram of the seat plate structure of this utility model;

[0027] Figure 7 This is a schematic diagram of the handrail structure of this utility model;

[0028] Figure 8 This is an assembly drawing of the attitude transformation structure of this utility model;

[0029] Figure 9 This is an exploded view of the assembly of the attitude transformation structure of this utility model;

[0030] Figure 10 This is a schematic diagram of the attitude transformation structure of this utility model;

[0031] Figure 11 This is an exploded view of the attitude transformation structure of this utility model;

[0032] Figure 12 This is a schematic diagram of the chassis structure of this utility model;

[0033] Figure 13 This is a schematic diagram of the installation of the chassis structure of this utility model.

[0034] In the diagram, 1 is the backrest structure, 2 is the seat structure, 3 is the armrest structure, 4 is the posture transformation structure, 5 is the chassis structure, 6 is the storage frame, 7 is the foot pedal, 8 is the front wheel, 9 is the rear wheel, and 10 is the battery.

[0035] Back panel bracket 1-1, back panel 1-2, back panel-handrail connecting shaft 1-3, slide rod-back panel linkage rod connecting shaft 1-4, back panel pivot seat 1-5;

[0036] Seat plate bracket 2-1, front seat plate bracket 2-2, armrest support rod connecting shaft 2-3, slide rail 2-4, seat plate 2-5, rear seat plate bracket 2-6, seat plate pivot seat 2-7;

[0037] Handrail 3-1, handrail sleeve 3-2, handrail support rod 3-3;

[0038] 4-1 Slide bar-back plate linkage rod, 4-2 Rear linkage of four-bar mechanism, 4-3 Connecting rod of slide bar-rear linkage of four-bar mechanism, 4-4 Slide bar, 4-5 Front linkage of four-bar mechanism, 4-6 Electric push rod, 4-7 Connecting shaft of front linkage of four-bar mechanism, 4-8 Connecting shaft of rear linkage of four-bar mechanism;

[0039] Rear chassis rod 5-1, front chassis rod 5-2, side chassis rod 5-3, rear wheel cover bracket 5-4, motor bracket 5-5, front wheel bracket 5-6;

[0040] Wheel body 9-1, rear wheel cover 9-2, motor 9-3. Detailed Implementation

[0041] Specific embodiments of this utility model are given below. These specific embodiments are only used to further illustrate this utility model in detail and do not limit the scope of protection of this utility model.

[0042] This utility model provides a sliding rod linkage three-state transformation wheelchair mechanism (hereinafter referred to as the mechanism), characterized in that the mechanism includes a backrest structure 1, a seat structure 2, an armrest structure 3, a posture transformation structure 4, a chassis structure 5, a foot pedal 7, a front wheel 8, and a rear wheel 9.

[0043] The rear wheel 9 is mounted at the rear of the chassis structure 5, and the front wheel 8 is mounted at the front of the chassis structure 5; one end of the foot pedal 7 is hinged to the front end of the chassis structure 5 and is used to place the human foot.

[0044] The backrest structure 1 includes a backrest bracket 1-1, a backrest 1-2, a backrest-armrest connecting shaft 1-3, a slide rod-backrest linkage connecting shaft 1-4, and a backrest pivot seat 1-5.

[0045] The back plate 1-2 is fixed in the back plate bracket 1-1; a back plate-handrail connecting shaft 1-3 and a slide rod-back plate linkage rod connecting shaft 1-4 are respectively welded and fixed to the middle part of both sides of the back plate bracket 1-1; the ends of both sides of the back plate bracket 1-1 are respectively fixedly connected to one end of a back plate pivot seat 1-5.

[0046] The seat structure 2 includes a seat bracket 2-1, a front seat bracket 2-2, an armrest support rod connecting shaft 2-3, a slide rail 2-4, a seat 2-5, a rear seat bracket 2-6, and a seat shaft seat 2-7.

[0047] Seat plate 2-5 is fixed in seat plate bracket 2-1; seat plate rear bracket 2-6 is fixed to the rear part of the bottom surface of seat plate bracket 2-1; seat plate front bracket 2-2 is fixed to the front part of the bottom surface of seat plate bracket 2-1; the ends of both sides of seat plate bracket 2-1 are respectively fixedly connected to one end of a seat plate pivot seat 2-7; two armrest support rod connecting shafts 2-3 are respectively welded and fixed to the middle of both sides of seat plate bracket 2-1; two slide rails 2-4 are respectively welded and fixed to the middle of both sides of seat plate bracket 2-1; the other end of seat plate pivot seat 2-7 is respectively hinged to the other end of its respective back plate pivot seat 1-5;

[0048] The handrail structure 3 includes a handrail bar 3-1, a handrail sleeve 3-2, and a handrail support bar 3-3;

[0049] One end of each of the two handrails 3-1 is rotatably mounted on their respective backplate-handrail connecting shaft 1-3 via bearings, and the other end is hinged to one end of their respective handrail support rod 3-3; the other end of the handrail support rod 3-3 is rotatably mounted on their respective handrail support connecting shaft 2-3 via bearings; the handrail glove 3-2 is mounted on their respective handrails 3-1 for placing human hands;

[0050] The attitude transformation structure 4 includes a slide bar-back plate linkage rod 4-1, a four-bar linkage rear link 4-2, a slide bar-four-bar linkage rear link connecting rod 4-3, a slide bar 4-4, a four-bar linkage front link 4-5, an electric push rod 4-6, a four-bar linkage front link connecting shaft 4-7, and a four-bar linkage rear link connecting shaft 4-8.

[0051] One end of the electric push rod 4-6 is hinged to the front of the chassis structure 5; one end of each of the two four-bar linkage front links 4-5 is hinged to the front of both sides of the chassis structure 5; the four-bar linkage front link connecting shaft 4-7 is fixed to the other end of the two four-bar linkage front links 4-5; the seat plate front bracket 2-2 is hinged to the four-bar linkage front link connecting shaft 4-7.

[0052] One end of each of the two four-bar linkages 4-2 is hinged to the rear of both sides of the chassis structure 5; the rear support 2-6 of the seat plate is hinged to the other end of each of the two four-bar linkages 4-2; the beginnings of the two slide rod-four-bar linkage connecting rods 4-3 are hinged to the middle of their respective four-bar linkages 4-2; the slide rod 4-4 is fixed to the end of each of the two slide rod-four-bar linkage connecting rods 4-3; both ends of the slide rod 4-4 pass through their respective slide rails 2-4 and slide along their respective slide rails 2-4; one end of each of the two slide rod-back plate linkage rods 4-1 is rotatably mounted on both ends of the slide rod 4-4 via bearings, and the other end is rotatably mounted on their respective slide rod-back plate linkage connecting shafts 1-4 via bearings; both ends of the four-bar linkage rear linkage connecting shaft 4-8 are rotatably mounted on the middle of the two four-bar linkages 4-2 via bearings; the other end of the electric push rod 4-6 is interference-fitted and fixed to the middle of the four-bar linkage rear linkage connecting shaft 4-8.

[0053] Preferably, the mechanism further includes a storage frame 6; the storage frame 6 is fixed to the chassis structure 5 by screws.

[0054] Preferably, the mechanism further includes a battery 10; the battery 10 is placed in the storage frame 6 and fixed to the chassis structure 5 by a connector.

[0055] Preferably, the front wheel 8 is a swivel wheel.

[0056] Preferably, the back panel-handrail connecting shaft 1-3 is located above the slide bar-back panel linkage connecting shaft 1-4.

[0057] Preferably, the back plate pivot seat 1-5 is vertically welded and fixedly connected to the back plate bracket 1-1.

[0058] Preferably, the seat plate pivot seat 2-7 is horizontally welded and fixedly connected to the seat plate bracket 2-1.

[0059] Preferably, the rear link connecting shaft 4-8 of the four-bar linkage is located above the beginning of the rear link connecting rod 4-3 of the slide bar-four-bar linkage.

[0060] Preferably, the chassis structure 5 includes a rear chassis rod 5-1, a front chassis rod 5-2, a side chassis rod 5-3, a rear wheel arch bracket 5-4, a motor bracket 5-5, and a front wheel bracket 5-6;

[0061] The two ends of the two side chassis rods 5-3 are welded and fixed to the two ends of the rear chassis rod 5-1 and the front chassis rod 5-2 respectively, forming an integral structure; the two motor brackets 5-5 are welded and fixed to the two ends of the bottom surface of the rear chassis rod 5-1; the rear wheel cover brackets 5-4 are fixed to their respective motor brackets 5-5 with screws; the two front wheel brackets 5-6 are welded and fixed to the two ends of the bottom surface of the front chassis rod 5-2.

[0062] One end of the electric push rod 4-6 is hinged to the front chassis rod 5-2; one end of the front connecting rod 4-5 of the two four-bar linkages is respectively hinged to the front of their respective side chassis rod 5-3; one end of the rear connecting rod 4-2 of the two four-bar linkages is respectively hinged to the rear of their respective side chassis rod 5-3.

[0063] The two sides of the storage frame 6 are respectively fixed to their respective side chassis rods 5-3; one end of the foot pedal 7 is hinged to the front chassis rod 5-2; the front wheel 8 is installed in the front wheel bracket 5-6.

[0064] Preferably, the rear wheel 9 includes a wheel body 9-1, a rear wheel cover 9-2, and a motor 9-3;

[0065] The housings of the two motors 9-3 are fixed on the motor bracket 5-5, and their output ends are fixedly connected to their respective wheel bodies 9-1 via couplings; the rear wheel cover 9-2 is fixed to the rear wheel cover bracket 5-4 with screws.

[0066] The working principle and workflow of this utility model are as follows:

[0067] In use, the transition from the folded state to the upright state is as follows: The retraction of the electric push rod 4-6 moves the rear linkage connecting shaft 4-8 of the four-bar linkage, which in turn moves the rear linkage 4-2 forward. The rear linkage 4-2 then moves the seat support 2-1 via the rear seat bracket 2-6. The seat support 2-1, via the front seat bracket 2-2, moves the front linkage connecting shaft 4-7 of the four-bar linkage, which in turn moves the front linkage 4-5 forward. Simultaneously, the rotation of the rear linkage 4-2 causes the slide rod 4-4 to move along the slide rail 2-4. The inner relative seat plate support 2-1 slides backward, and the slide rod 4-4 pushes the back plate support 1-1 to rotate backward around the rotation axis of the back plate pivot seat 1-5 and the seat plate pivot seat 2-7 through the slide rod-back plate linkage rod 4-1, increasing the angle between the back plate support 1-1 and the seat plate support 2-1, realizing the transformation from the folded state to the upright state; at the same time, the back plate-armrest rod connecting shaft 1-3 on the back plate support 1-1 pushes the armrest rod 3-1 to move, driving the armrest support rod 3-3 to rotate around the axis of the armrest support rod connecting shaft 2-3. After the electric push rod 4-6 stops and locks, the mechanism locks and maintains the upright state, and the foot pedal 7 can be manually rotated to lower it.

[0068] When transitioning from a sitting upright position to a lying down position, the electric push rod 4-6 continues to retract, and the rear linkage 4-2 and the front linkage 4-5 of the four-bar linkage continue to rotate forward, pushing the slide rod 4-4 to slide backward along the slide rail 2-4 relative to the seat plate bracket 2-1. The slide rod-back plate linkage rod 4-1 pushes the back plate bracket 1-1 to rotate, and the angle between the back plate bracket 1-1 and the seat plate bracket 2-1 continues to increase until the push rod reaches its maximum stroke and locks, completing the lying posture change.

[0069] When transitioning from a reclining to a folded position, the electric push rod 4-6 extends, causing the rear linkage shaft 4-8 of the four-bar linkage to move. This causes the rear linkage 4-2 of the four-bar linkage to rotate backward, pulling the slide rod-rear linkage connecting rod 4-3 of the four-bar linkage. This causes the slide rod 4-4 to slide forward along the slide rail 2-4 relative to the seat plate bracket 2-1. The slide rod 4-4 pulls the slide rod-back plate linkage rod 4-1, causing the back plate bracket 1-1 to rotate around the coincident axis of the back plate pivot seat 1-5 and the seat plate pivot seat 2-7. By moving the seat plate bracket 2-1 backward and rotating the back plate bracket 1-1 forward, the angle between the two is reduced. At the same time, the back plate bracket 1-1 pushes the armrest rod 3-1 through the back plate-armrest rod connecting shaft 1-3, causing the armrest support rod 3-3 to rotate forward around the armrest support rod connecting shaft 2-3, thus folding the armrest. The armrest folds until the electric push rod 4-6 retracts to its limit position and locks in length. The foot pedal 7 can then be manually rotated to fold the armrest.

[0070] Any aspects not covered in this utility model are applicable to the prior art.

Claims

1. A sliding rod-linked three-state transformation wheelchair mechanism, characterized in that, The mechanism includes a backrest structure (1), a seat structure (2), an armrest structure (3), a posture transformation structure (4), a chassis structure (5), foot pedals (7), a front wheel (8), and a rear wheel (9); The rear wheel (9) is mounted at the rear of the chassis structure (5), and the front wheel (8) is mounted at the front of the chassis structure (5); one end of the foot pedal (7) is hinged to the front end of the chassis structure (5) for placing the human foot. The backrest structure (1) includes a backrest bracket (1-1), a backrest (1-2), a backrest-armrest connecting shaft (1-3), a slide rod-backrest linkage connecting shaft (1-4), and a backrest pivot seat (1-5); The back panel (1-2) is fixed in the back panel bracket (1-1); a back panel-handrail connecting shaft (1-3) and a slide rod-back panel linkage rod connecting shaft (1-4) are fixed in the middle of both sides of the back panel bracket (1-1); the ends of both sides of the back panel bracket (1-1) are fixedly connected to one end of a back panel pivot seat (1-5); The seat structure (2) includes a seat bracket (2-1), a front seat bracket (2-2), an armrest support rod connecting shaft (2-3), a slide rail (2-4), a seat (2-5), a rear seat bracket (2-6), and a seat shaft seat (2-7); The seat plate (2-5) is fixed in the seat plate bracket (2-1); the rear seat plate bracket (2-6) is fixed to the rear part of the bottom surface of the seat plate bracket (2-1); the front seat plate bracket (2-2) is fixed to the front part of the bottom surface of the seat plate bracket (2-1); the ends of both sides of the seat plate bracket (2-1) are respectively fixedly connected to one end of a seat plate pivot seat (2-7); the connecting shafts (2-3) of the two armrest support rods are respectively fixed to the middle parts of both sides of the seat plate bracket (2-1); the two slide rails (2-4) are respectively fixed to the middle parts of both sides of the seat plate bracket (2-1); the other end of the seat plate pivot seat (2-7) is respectively hinged to the other end of the respective back plate pivot seat (1-5); The handrail structure (3) includes a handrail bar (3-1), a handrail sleeve (3-2), and a handrail support bar (3-3); One end of each of the two handrails (3-1) is rotatably mounted on its respective backplate-handrail connecting shaft (1-3), and the other end is hinged to one end of its respective handrail support rod (3-3); the other end of the handrail support rod (3-3) is rotatably mounted on its respective handrail support connecting shaft (2-3); the handrail glove (3-2) is mounted on its respective handrail (3-1) and is used to place the human hand. The attitude transformation structure (4) includes a slide bar-back plate linkage rod (4-1), a four-bar linkage rear link (4-2), a slide bar-four-bar linkage rear link connecting rod (4-3), a slide bar (4-4), a four-bar linkage front link (4-5), an electric push rod (4-6), a four-bar linkage front link connecting shaft (4-7), and a four-bar linkage rear link connecting shaft (4-8); One end of the electric push rod (4-6) is hinged to the front of the chassis structure (5); one end of each of the two four-bar linkage front links (4-5) is hinged to the front of both sides of the chassis structure (5); the four-bar linkage front link connecting shaft (4-7) is fixed to the other end of the two four-bar linkage front links (4-5); the seat plate front bracket (2-2) is hinged to the four-bar linkage front link connecting shaft (4-7); One end of each of the two four-bar linkage rear links (4-2) is hinged to the rear of both sides of the chassis structure (5); the seat plate rear bracket (2-6) is hinged to the other end of each of the two four-bar linkage rear links (4-2); the beginnings of the two slide bar-four-bar linkage rear link connecting rods (4-3) are respectively hinged to the middle of their respective four-bar linkage rear links (4-2); the slide bar (4-4) is fixed to the end of the two slide bar-four-bar linkage rear link connecting rods (4-3); the two ends of the slide bar (4-4) pass through their respective slide bars. The two slide rods (2-4) slide along their respective slide rails (2-4); one end of each slide rod-back plate linkage rod (4-1) is rotatably mounted on both ends of the slide rod (4-4), and the other end is rotatably mounted on their respective slide rod-back plate linkage rod connecting shaft (1-4); both ends of the four-bar linkage rear linkage connecting shaft (4-8) are rotatably mounted on the middle of the two four-bar linkage rear linkages (4-2); the other end of the electric push rod (4-6) is interference-fitted and fixed to the middle of the four-bar linkage rear linkage connecting shaft (4-8).

2. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The mechanism also includes a storage frame (6); the storage frame (6) is fixed to the chassis structure (5).

3. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 2, characterized in that, The mechanism also includes a battery (10); the battery (10) is placed in a storage frame (6) and fixed to the chassis structure (5) by a connector.

4. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The front wheel (8) is a swivel wheel.

5. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The back panel-handrail connecting shaft (1-3) is located above the slide bar-back panel linkage connecting shaft (1-4).

6. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The back plate pivot seat (1-5) is vertically fixed to the back plate bracket (1-1).

7. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The seat plate pivot seat (2-7) is horizontally fixedly connected to the seat plate bracket (2-1).

8. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The rear link connecting shaft (4-8) of the four-bar linkage is located above the beginning of the rear link connecting rod (4-3) of the slide bar-four-bar linkage.

9. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 1, characterized in that, The chassis structure (5) includes a rear chassis rod (5-1), a front chassis rod (5-2), a side chassis rod (5-3), a rear wheel arch bracket (5-4), a motor bracket (5-5), and a front wheel bracket (5-6); The two ends of the two side chassis rods (5-3) are respectively fixed to the ends of the rear chassis rod (5-1) and the front chassis rod (5-2) to form an integral structure; the two motor brackets (5-5) are fixed to the ends of the bottom surface of the rear chassis rod (5-1); the rear wheel cover bracket (5-4) is fixed to its respective motor bracket (5-5); the two front wheel brackets (5-6) are fixed to the ends of the bottom surface of the front chassis rod (5-2); One end of the electric push rod (4-6) is hinged to the front chassis rod (5-2); one end of the front connecting rod (4-5) of the two four-bar linkages is respectively hinged to the front of their respective side chassis rods (5-3); one end of the rear connecting rod (4-2) of the two four-bar linkages is respectively hinged to the rear of their respective side chassis rods (5-3); One end of the foot pedal (7) is hinged to the front chassis rod (5-2); the front wheel (8) is mounted in the front wheel bracket (5-6).

10. The slide-bar linkage three-state transformation wheelchair mechanism according to claim 9, characterized in that, The rear wheel (9) includes a wheel body (9-1), a rear wheel cover (9-2), and a motor (9-3); The housings of the two motors (9-3) are fixed on the motor bracket (5-5), and their output ends are fixedly connected to their respective wheel bodies (9-1) via couplings; the rear wheel cover (9-2) is fixed on the rear wheel cover bracket (5-4).

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