阅读说明：本技术 一种自适应智能轮椅装置及使用方法 (Self-adaptive intelligent wheelchair device and use method ) 是由 贺晓莹 熊中刚 刘忠 李慧娴 陈溪华 罗子强 刘德清 肖昌永 肖慧娇 何晓冰 申 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种自适应智能轮椅装置及使用方法,包括车体结构、手动控制装置、电动控制装置、履带式爬坡装置、自适应结构可变装置和报警装置,所述手动控制装置安装于车体结构的一侧,所述电动控制装置位于车体结构的背面,所述履带式爬坡装置通过电机连接于车体结构的底部。本发明通过采用手动控制装置与电动控制装置,实现智能轮椅的前进,采用四铰链式传动,相比于传统的手动推车轮省时省力,方便快捷,同时,车体上的蓄电池可在电动模式电量不足时进行续电,保证智能轮椅的出行无忧,有效提高了使用者出行的效率,实现智能化、无人化的自行出行。(The invention discloses a self-adaptive intelligent wheelchair device and a using method thereof. According to the intelligent wheelchair, the intelligent wheelchair can move forward by adopting the manual control device and the electric control device, the four-hinge transmission is adopted, time and labor are saved compared with the traditional manual wheel pushing method, the four-hinge transmission is convenient and quick, meanwhile, the storage battery on the wheelchair body can be powered on when the electric quantity is insufficient in the electric mode, the intelligent wheelchair is guaranteed to be free of worry when going out, the user's efficiency of going out is effectively improved, and the intelligent and unmanned self-going out is realized.)

1. The utility model provides a self-adaptation intelligence wheelchair device and application method, includes automobile body structure, manual control device, electric control device, crawler-type climbing device, self-adaptation structure variable device and alarm device, its characterized in that: the manual control device is arranged on one side of the vehicle body structure, the electric control device is positioned on the back of the vehicle body structure, and the crawler-type climbing device is connected to the bottom of the vehicle body structure through the motor.

2. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the vehicle body structure includes: the novel chair comprises a backrest plate (1), a backrest fixing plate (2), handrails (3), a handrail fixing plate (4), a convenient table plate (5), a horizontal moving rod (6), a vertical moving rod (7), a seat plate (8), a seat fixing plate (9), leg side plates (10), leg side plate fixing plates (11), a pedal plate (12), a vehicle body baffle plate (13), a fastening piece (14), a pushing handrail (15) and a vehicle body bottom plate (16).

3. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the manual control device comprises a steering handle (17), a transmission shaft (18), a universal wheel base (19), a coupler (20), a universal wheel connecting piece (21), a universal wheel (22), a manual rocking handle (23), a connecting rod (24), a rocking rod (25), a connecting wheel rod (26), a fixing rod (27) and a manual device fixing rod (28).

4. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the electric control device comprises wheels (29), a wheel shaft (30), a coupling transmission (31), a wheel fixing plate (32), a motor (33), a storage battery (34) and a shock absorber (35);

the storage battery (34) is fixedly arranged at the bottom of the vehicle body bottom plate (16) and used for external storage when the intelligent wheelchair is under insufficient power driving, and the shock absorbers (35) are arranged above the wheel shaft (30) in a bilateral symmetry mode and used for reducing vibration caused in the running process of the intelligent wheelchair.

5. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the crawler type climbing device comprises a crawler device driving motor (36), a hydraulic rod (37), a fixed supporting rod (38), a rotary limiter (39), a balance ball (40), a balance ball groove (41), a crawler (42), a driving wheel (43) and a connecting plate (44);

crawler drive motor (36) are located the junction of crawler-type climbing device and vehicle structure bottom for the drive of control hydraulic stem (37), balance ball (40) are located balance ball groove (41), be fixed with rotatory stopper (39) on it, the degree of inclination when being used for controlling intelligent wheelchair climbing, crawler (42) fixed distribution is in connecting plate (44) both sides, be used for climbing the advancing of intelligent wheelchair under the highway section, drive wheel (43) are located crawler (42) inboard side by side, be used for driving the operation of crawler (42).

6. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the self-adaptive structure variable device comprises a first movable lifting rod (45), a second movable lifting rod (46), a first lying mode control rod (47), a second lying mode control rod (48), a self-adaptive structure variable device steering seat (49) and a self-adaptive structure variable device base (50);

the self-adaptive structure variable device can perform structure transformation on the intelligent wheelchair, the structure transformation comprises the adjustment of the height of the intelligent wheelchair, the intelligent wheelchair is switched into a lying mode, the first movable lifting rod (45) and the second movable lifting rod (46) can simultaneously stretch and retract to control the height of the seat, the first lying mode control rod (47) and the second lying mode control rod (48) are installed on the surface of a steering seat (49) of the self-adaptive structure variable device, the intelligent wheelchair can be transformed into a lying structure through common thrust, and a user can perform self-adaptive adjustment according to needs.

7. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the alarm device comprises a switch button (51) and an alarm button (52), and is used for realizing the alarm of the intelligent wheelchair in emergency, searching for rescue and ensuring the safe trip of a user.

8. The adaptive intelligent wheelchair device and method of use of claim 1 wherein: the manual control device comprises a manual rocking handle (23) for driving the advancing direction and a steering handle (17) for controlling the direction, and the self-adaptive structure can adjust the height of the seat and can self-adaptively switch the lying mode.

9. The adaptive intelligent wheelchair device and method of use of claim 2 wherein: backrest board (1), seat board (8), shank curb plate (10) all are aluminium alloy gondola water faucet formula structural design, and install alarm device on handrail (3), and convenient table (5) are realized taking out and are packed up through the push-and-pull of horizontal migration pole (6) and vertical carriage release pole (7), convenient and fast, and automobile body baffle (13) outside fixed mounting has manual control device, adaptive structure variable device is located seat board (8) below.

10. The adaptive intelligent wheelchair device and method of use of claim 3 wherein: steering handle (17) and manual rocking handle (23) fixed mounting are in handrail (3) top, are the clover structure between every group universal wheel (22), and the contained angle is 120 between every wheel, and structural feature keeps two wheels to advance in the bottom all the time, has kept stable user and can carry out manual control steering handle (17) and manual rocking handle (23) according to actual conditions to the advancing and the direction of control universal wheel (22), the advance of realization intelligence wheelchair.

Technical Field

The invention relates to the technical field of medical rehabilitation instruments, in particular to a self-adaptive intelligent wheelchair device and a using method thereof.

Background

Along with the continuous development of science and technology, the intelligent wheelchair has gradually replaced traditional wheelchair and has realized helping old and disabled, no matter in medical treatment field or life field, very big improvement the trip of handicapped person, the wheelchair is the important instrument of rehabilitation and trip, along with the improvement of people's living standard, the leg and foot invariant patient is more and more used the wheelchair, has made things convenient for their outdoor trip, has improved quality of life.

Most wheelchairs are divided into manual wheelchairs and automatic wheelchairs, the current Chinese market is generally common to the common manual wheelchairs, the number of the manual wheelchairs still occupies the leading whole, the product structure of the wheelchair market in China is single, low-end products occupy a large share, medium-high-end products are not sufficient in supply, particularly high-end products, the market demand mainly depends on import, and the improvement of the self-adaption capability and the comfort level of the intelligent wheelchair becomes the first problem of the current research, the traditional intelligent wheelchair not only needs real-time accompanying of a follower, but also cannot integrate electric and manual functions, and needs a large amount of manual thrust or assistance to be lifted up by a plurality of people when a climbing road section or a patient needs to have a rest, needs to occupy a large amount of time and energy of the follower, cannot realize unmanned self-adaption adjustment, the electric driving of the wheelchair occupies a small proportion in China, and has defects in the aspect of electrically ascending, the wheelchair technology in China is still biased to the common wheelchair at present, only the wheelchair is single and has low functionality, the multifunctional structure wheelchair disclosed by the invention is combined with a multifunctional structure of the wheelchair, and multifunctional integration is realized, so that the wheelchair is not only a simple moving tool.

The self-adaptive intelligent wheelchair device and the using method in the prior art have the defects that:

1. a reference CN112245136A discloses a transformable and automatically-transported intelligent wheelchair, which comprises a backrest rotation module, a seat plate rotation module, a leg rest plate rotation module and a support transport module. The intelligent wheelchair of the invention drives the wheelchair to deform through the motor gear, and the conveyor belt arranged on the surface can rapidly transport patients to a sickbed, helps nurses and relatives avoid the operation of lifting the patients to the sickbed laboriously, simultaneously has two modes of deformation and transmission, is beneficial to saving manpower and material resources, greatly improves the labor efficiency of patient transportation, realizes the automation and the intellectualization of patient transportation, is beneficial to improving the application field and the application prospect of the wheelchair, has practicability and creativity, and is deformed through the motor gear, when the intelligent wheelchair is changed into a flat lying state, the patient is transferred to the sickbed from the flat wheelchair through controlling the drive of the conveyor belt, the operation of manually lifting the patients to the sickbed is avoided, a large amount of manpower and material resources are saved, the automation and the intellectualization of patient transportation are realized, but certain defects still exist, the patient needs to be transported to the sickbed by the transmission belts on the backrest, the leg rest plate and the seat plate, the load is large, the patient is easy to rub and damage after long-term use, and the service life of the patient is greatly shortened;

2. during normal use, need the hand push wheelchair of people to advance, need the people to accompany at any moment, can't fundamentally solve the unmanned of wheelchair accompany, and automatic relative degree is lower, does not realize real intellectuality on the user goes on a journey with the help of the wheelchair, has some technical defects.

3. When the intelligent wheelchair is used outside, the intelligent wheelchair meets a climbing road section, needs manual work to lift or vigorously push, consumes certain manpower and material resources, and cannot realize self-adaptive adjustment

Disclosure of Invention

The invention aims to provide a self-adaptive intelligent wheelchair device and a using method thereof, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme that the self-adaptive intelligent wheelchair device and the using method thereof comprise a vehicle body structure, a manual control device, an electric control device, a crawler type climbing device, a self-adaptive structure variable device and an alarm device, wherein the manual control device is installed on one side of the vehicle body structure, the electric control device is positioned on the back of the vehicle body structure, and the crawler type climbing device is connected to the bottom of the vehicle body structure through a motor.

Preferably, the vehicle body structure includes: back board, back fixed plate, handrail fixed plate, convenient table, horizontal migration pole, vertical carriage release, seat board, seat fixed plate, shank curb plate fixed plate, running-board, automobile body baffle, fastening plate, promotion handrail and automobile body bottom plate.

Preferably, the manual control device comprises a steering handle, a transmission shaft, a universal wheel base, a coupler, a universal wheel connecting piece, a universal wheel, a manual rocking handle, a connecting rod, a rocking rod, a connecting wheel rod, a fixing rod and a manual device fixing rod.

Preferably, the electric control device comprises a wheel, a wheel shaft, a coupling transmission, a wheel fixing sheet, a motor, a storage battery and a shock absorber;

the storage battery is fixedly arranged at the bottom of the bottom plate of the vehicle body and used for external storage when the intelligent wheelchair is not driven sufficiently by electricity, and the shock absorbers are arranged above the wheel shafts in a bilateral symmetry mode and used for vibration caused in the running process of the small intelligent wheelchair.

Preferably, the crawler-type climbing device comprises a crawler-type driving motor, a hydraulic rod, a fixed supporting rod, a rotary limiter, a balance ball groove, a crawler, a driving wheel and a connecting plate;

crawler drive motor is located the junction of crawler-type climbing device and vehicle structure bottom for the drive of control hydraulic stem, the balance ball is located the balance ball inslot, is fixed with rotatory stopper on it for the degree of inclination when controlling intelligent wheelchair climbing, and track fixed distribution is in the connecting plate both sides, is used for the advancing of intelligent wheelchair under the climbing highway section, and the drive wheel is located the track inboard side by side, is used for driving the operation of track.

Preferably, the adaptive structure variable device comprises a first movable lifting rod, a second movable lifting rod, a first lying mode control rod, a second lying mode control rod, an adaptive structure variable device steering seat and an adaptive structure variable device base;

the self-adaptive structure variable device can perform structure transformation on the intelligent wheelchair, the structure transformation comprises the step of adjusting the height of the intelligent wheelchair, the intelligent wheelchair is switched into a lying mode, the first movable lifting rod and the second movable lifting rod can stretch out and draw back to control the height of the seat at the same time, the first lying mode control rod and the second lying mode control rod are installed on the surface of the steering seat of the self-adaptive structure variable device, the intelligent wheelchair can be transformed into a lying structure through common thrust, and a user can perform self-adaptive adjustment as required.

Preferably, the alarm device comprises a switch button and an alarm button, and the alarm device is used for alarming when the intelligent wheelchair is in emergency, searching for rescue and ensuring safe travel of a user.

Preferably, the manual control device comprises a manual rocking handle for driving the advancing direction and a steering handle for controlling the direction, and the self-adaptive structure can adjust the height of the seat and can self-adaptively switch the lying mode.

Preferably, back board, seat board, shank curb plate all are aluminium alloy gondola water faucet formula structural design, and install alarm device on the handrail, and convenient table is realized taking out and packing up through the push-and-pull of horizontal migration pole with vertical carriage release lever, convenient and fast, and automobile body baffle outside fixed mounting has manual control device, adaptive structure variable device is located the seat board below.

Preferably, the steering handle and the manual rocking handle are fixedly arranged above the handrail, a clover structure is formed between each group of universal wheels, the included angle between each wheel is 120 degrees, the structural characteristics are that the two wheels are always kept to advance at the bottom, and a user with stability can manually control the steering handle and the manual rocking handle according to actual conditions, so that the advancing and the direction of the universal wheels are controlled, and the intelligent wheelchair can advance.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the self-adaptive intelligent wheelchair device and the using method, the intelligent wheelchair can advance by adopting the manual control device and the electric control device, four-hinge type transmission is adopted, time and labor are saved compared with the traditional manual wheel pushing mode, convenience and rapidness are realized, meanwhile, the storage battery on the vehicle body can be powered on when the electric quantity is insufficient in the electric mode, the intelligent wheelchair is guaranteed to be free from worry during traveling, the traveling efficiency of a user is effectively improved, and intelligent and unmanned self-traveling is realized.

2. According to the self-adaptive intelligent wheelchair device and the using method, the motor is adopted to control the telescopic actions of the crawler belt, the lifting rod, the hydraulic rod and the like, so that the production cost of the multifunctional wheelchair is reduced, and the motor transmission efficiency of the wheelchair is effectively improved. The wheelchair has strong requirements on going upstairs among users at present, a crawler-type chassis is adopted to go upstairs, the state of going upstairs and downstairs is relatively stable, the crawler-type chassis is supported, meanwhile, the balance balls are arranged above the chassis, the front-back angle adjustment can be realized, the horizontality of the wheelchair is ensured when the crawler-type chassis goes upstairs, and the tension of the users on inclination is reduced. The multifunctional wheelchair has the advantages that the function is diversified through the ingenious design of the structure, the stability of the wheelchair structure is improved by adopting the aluminum alloy, the simplification of a mechanical structure is realized, the structure of the wheelchair is optimized, and the wheelchair is assembled and reasonable while being fixed in space. Effectively reduced the tradition and adopted the artifical complexity that lifts up and climb the stair, saved a large amount of manpower and materials, be fit for long-term continuous use, greatly increased its life, extension maintenance cycle reduces the maintenance cost.

3. According to the self-adaptive intelligent wheelchair device and the using method, the intelligent wheelchair can be switched between a height adjustment mode and a lying mode according to the requirements of a user, the self-adaptive structure transformation is realized, the alarm device is arranged, the safe trip of the user is ensured, and the automatic structure variable adjustment is realized.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

FIG. 2 is a schematic view of the construction of the universal wheel of the present invention;

FIG. 3 is a schematic structural diagram of an electric control apparatus according to the present invention;

FIG. 4 is a schematic structural view of a crawler-type climbing device according to the present invention;

FIG. 5 is a side view of the track structure of the present invention;

FIG. 6 is a schematic structural diagram of an adaptive architecture-varying apparatus according to the present invention;

FIG. 7 is a schematic structural view of a second aspect of the present invention;

fig. 8 is a schematic structural diagram of the alarm device of the present invention.

In the figure: 1. a back board; 2. a backrest fixing plate; 3. a handrail; 4. a handrail fixing plate; 5. a convenient table board; 6. a horizontal moving rod; 7. a vertical travel bar; 8. a seat plate; 9. a seat fixing plate; 10. a leg side plate; 11. a leg side plate fixing plate; 12. a foot pedal; 13. a body guard; 14. a fastening tab; 15. pushing the handrail; 16. a vehicle body floor; 17. a steering handle; 18. a drive shaft; 19. a universal wheel base; 20. a coupling; 21. a universal wheel connecting sheet; 22. a universal wheel; 23. a manual crank; 24. a connecting rod; 25. a rocking bar; 26. a wheel connecting rod; 27. fixing the rod; 28. a manual device fixing rod; 29. a wheel; 30. a wheel shaft; 31. a coupling driver; 32. a wheel securing plate; 33. an electric motor; 34. a storage battery; 35. a shock absorber; 36. a crawler belt device driving motor; 37. a hydraulic lever; 38. fixing the support rod; 39. a rotation limiter; 40. a balance ball; 41. a balancing ball groove; 42. a crawler belt; 43. a drive wheel; 44. a connecting plate; 45. moving the lifting rod; 46. moving the lifting rod II; 47. a first lying mode control lever; 48. a second lying mode control lever; 49. the self-adaptive structure variable device is provided with a steering seat; 50. a self-adaptive configuration variable device base; 51. a switch button; 52. and an alarm button.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The first embodiment is as follows:

referring to fig. 1, 2, 3 and 5, an embodiment of the invention, an adaptive intelligent wheelchair device and a method for using the same, includes a steering handle 17, a manual crank 23 and, the steering handle 17 and the manual rocking handle 23 are fixedly arranged above the handrail 3, a clover structure is formed between each group of universal wheels 22, the included angle between each group of universal wheels is 120 degrees, the structural characteristics are that two wheels are always kept to advance at the bottom, a user can manually control the steering handle 17 and the manual rocking handle 23 according to actual conditions, thereby controlling the advancing and the direction of the universal wheels 22 and realizing the advancing of the intelligent wheelchair, the storage battery 34 is fixedly arranged at the bottom of the vehicle body bottom plate 16, the intelligent wheelchair is used for external power storage when the intelligent wheelchair is insufficient in electric drive, and the shock absorbers 35 are symmetrically arranged above the wheel shafts 30 and used for reducing vibration caused by the intelligent wheelchair in the running process;

through adopting manual control device and electric control device, realize advancing of intelligent wheelchair, adopt four hinge type transmissions, compare in traditional manual wheel of pushing away labour saving and time saving, convenient and fast, simultaneously, battery 34 on the automobile body can continue the electricity when the electric mode electric quantity is not enough, guarantees that the trip of intelligent wheelchair is carefree, has effectively improved the efficiency of user's trip, realizes intelligent, unmanned trip by oneself.

Example two:

referring to fig. 1 and 4, an embodiment of the invention provides a self-adaptive intelligent wheelchair device and a using method thereof, the self-adaptive intelligent wheelchair device comprises a crawler device driving motor 36, a rotation limiter 39 and a balance ball 40, the crawler device driving motor 36 is positioned at the connection part of a crawler type climbing device and the bottom of a vehicle body structure and is used for controlling the driving of a hydraulic rod 37, the balance ball 40 is positioned in a balance ball groove 41, the rotation limiter 39 is fixed on the balance ball groove 41 and is used for controlling the inclination degree of the intelligent wheelchair when climbing, the crawler 42 is fixedly distributed on two sides of a connecting plate 44 and is used for advancing the intelligent wheelchair in a climbing road section, and a driving wheel 43 is positioned on the inner side of the crawler 42 side by side and is used for driving the running of the crawler 42;

the telescopic actions of the crawler belt, the lifting rod, the hydraulic rod 37 and the like are controlled by one motor, so that the production cost of the multifunctional wheelchair is reduced, and the motor transmission efficiency of the wheelchair is effectively improved. The wheelchair has strong requirements on going upstairs among users at present, a crawler-type chassis is adopted to go upstairs, the state of going upstairs and downstairs is relatively stable, the balance ball 40 is arranged above the chassis while the crawler-type chassis is supported, the front-back angle adjustment can be realized, the horizontality of the wheelchair is ensured when the crawler-type chassis goes upstairs, and the tension of the users on inclination is reduced. The multifunctional wheelchair has the advantages that the function is diversified through the ingenious design of the structure, the stability of the wheelchair structure is improved by adopting the aluminum alloy, the simplification of a mechanical structure is realized, the structure of the wheelchair is optimized, and the wheelchair is assembled and reasonable while being fixed in space. Effectively reduced the tradition and adopted the artifical complexity that lifts up and climb the stair, saved a large amount of manpower and materials, be fit for long-term continuous use, greatly increased its life, extension maintenance cycle reduces the maintenance cost.

Example three:

referring to fig. 1, 6, 7 and 8, an embodiment of the invention provides an adaptive intelligent wheelchair device and a method for using the same, including a first movable lifting rod 45, a second movable lifting rod 46 and a first lying mode control rod 47, wherein the adaptive structure-variable device can change the structure of the intelligent wheelchair, including adjusting the height of the intelligent wheelchair, switching the intelligent wheelchair to a lying mode, and simultaneously extending and retracting the first movable lifting rod 45 and the second movable lifting rod 46 to control the height of the seat, and the first lying mode control rod 47 and the second lying mode control rod 48 are mounted on the surface of a steering seat 49 of the adaptive structure-variable device, so that the intelligent wheelchair can be changed into a lying structure by common thrust, and a user can perform adaptive adjustment as required;

can carry out the switching of height control and flat mode of lying to intelligent wheelchair according to user's demand, realize self-adaptation structure transform, and have alarm device, guarantee user's safe trip, realize automatic variable regulation of structure.

In the invention, the working steps of the device are as follows:

1. a user sits on the seat plate 8 and manually controls the intelligent wheelchair to move forward by swinging the manual rocking handle 23 and rotating the steering handle 17; meanwhile, the user can press the switch button 51 on the armrest 3 to start the electric mode of the intelligent wheelchair, and the user can control the universal wheel 22 by rotating the steering handle 17, so as to control the traveling direction of the intelligent wheelchair; when the electric quantity is insufficient during going out, the storage battery 34 can be started to store and supply power to the intelligent wheelchair, and the shock absorbers 35 arranged between the wheels 29 and the two sides of the seat plate 8 can greatly relieve jolt, ensure the body comfort of a user and realize accompanying unmanned manual driving and electric driving going out;

2. when meetting the climbing highway section, can start crawler-type climbing device, through rotatory stopper 39 and balance ball 40 definite climbing angle, start the track base during operation downstairs, wheelchair seat position still with ground level, the holistic stability of steerable intelligent wheelchair reduces the fear to high slope, has saved a large amount of manpower and materials simultaneously. When going upstairs and downstairs are steep, the handrail 15 needs to be pushed by accompanying, so that the overall stability is ensured;

3. when being used for needing to adjust the seat height, the accessible is controlled a removal lifter 45 and is removed the regulation that the lifter 46 realized the seat height, when the user need lie a flat rest, the accessible promotes a flat mode control lever 47 and No. two flat mode control levers 48 of lying, realizes the variable regulation structure of intelligent wheelchair according to user's demand self-adaptation. When the user needs to have a meal, accessible push-and-pull horizontal migration pole 6 and vertical carriage bar 7 take out convenient table 5 and have a meal, when using the emergency that appears in the intelligent wheelchair in-process, the accessible presses alarm button 52 and reports to the police, seeks help, has guaranteed user's trip safety.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.