CN108670595A - A kind of multifunctional wheelchair - Google Patents
A kind of multifunctional wheelchair Download PDFInfo
- Publication number
- CN108670595A CN108670595A CN201810430846.7A CN201810430846A CN108670595A CN 108670595 A CN108670595 A CN 108670595A CN 201810430846 A CN201810430846 A CN 201810430846A CN 108670595 A CN108670595 A CN 108670595A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- functional unit
- wheelchair
- multifunctional
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
Abstract
The invention discloses a kind of multifunctional wheelchairs, including wheelchair body, mechanical arm and functional unit；Mechanical arm includes the first mechanical arm and second mechanical arm being hinged, and first mechanical arm connects wheelchair body and can rotate to it, and second mechanical arm can be rotated relative to first mechanical arm；Functional unit is mounted in second mechanical arm；Functional unit includes flat assembly sea, and assembly sea is provided with display screen on one side；The multifunctional wheelchair of the present invention includes mechanical arm and functional unit, functional unit includes the assembly sea with display screen, user such as can be navigated using display screen, be entertained at the operations, and the back side of assembly sea can be used as object disposing platform or take object pallet, mechanical arm and functional unit are foldable, when that need not use, mechanical arm and functional unit can store in this way, prevent it from influencing the normal use of user or blocking the visual field.The stand-alone capability of disabled person can be improved in the multifunctional wheelchair, make its can complete independently some operation.
Description
Technical field
The present invention relates to medical instruments fields, more particularly to a kind of multifunctional wheelchair.
Background technology
The getting worse of Chinese population aging now, and due to caused by various natural calamities, disease and traffic accident
Physical disabilities are also increasing year by year, either the elderly or lower limb disability people, their life range and life degree of freedom is all
It is limited by very large, quality of life is greatly affected.Electric wheelchair on the market develops relative maturity at present, they
It can be solved the problems, such as by wheelchair handicapped, but the operation that disabled person can carry out on wheelchair is less, in many situations
Under, it is still desirable to others assists take object, pick up thing etc., and the stand-alone capability of disabled person itself is still relatively limited.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention, which provides, a kind of can be improved the only of disabled person
Vertical ability, make its can complete independently some operations multifunctional wheelchair.
Technical solution：To achieve the above object, multifunctional wheelchair of the invention, including wheelchair body, mechanical arm and
Functional unit；
The mechanical arm includes the first mechanical arm and second mechanical arm being hinged, and the first mechanical arm connects institute
It states wheelchair body and can rotate to it, the second mechanical arm can be rotated relative to first mechanical arm；The functional unit peace
In the second mechanical arm；
The functional unit includes flat assembly sea, and assembly sea is provided with display screen on one side；The assembly sea is logical
It crosses transition joints and connects the second mechanical arm, the transition joints tool is there are two cradle head, and two cradle heads turn
Axis is mutually perpendicular to；
The mechanical arm and functional unit can switch between folded state and use state, under folded state, first
Mechanical arm is horizontally disposed with second mechanical arm and the two is Chong Die, and the assembly sea is in upright state；
Further include control system, the mechanical arm is all connected with control system with functional unit.
Further, the first mechanical arm is driven by first motor relative to the wheelchair body controllable rotary, described
Second mechanical arm is driven by the second motor relative to the first mechanical arm controllable rotary.
Further, the back side of the one side for being provided with display screen of the assembly sea is provided with one layer of magnet.
Further, be provided with two groups in the wheelchair body described in mechanical arm, the functional unit is installed therein
On one mechanical arm, graping chaw is installed on another mechanical arm.
Further, the graping chaw includes gripper seat, and there are two can parallel opening or conjunction for installation in the gripper seat
The clamping jaw held together, and there are two suckers for the both sides setting of gripper seat, sucker connects air compressor machine by tracheae, and electricity is provided on tracheae
Magnet valve, solenoid valve connect the control system；Clamping jaw can switch relative to gripper seat between collapsed state and normal operating condition,
Under collapsed state, the clamping jaw is integrally fully located at after the suction inlet of the sucker.
Further, it is both provided with rubber pad on the clamping face of each clamping jaw.
Further, the graping chaw is connected to the second mechanical arm of the graping chaw by the second transition joints
On；There are two cradle heads for second transition joints tool, and the shaft of two cradle heads is mutually perpendicular to, second transition joints
Connect the control system.
Further, the mechanical arm for being equipped with graping chaw is mounted on by rotating base in wheelchair body so that machine
Tool arm can be integrally relative to the wheelchair body along vertical axes controllable rotating.
Further, wheelchair body tool is there are two driving wheel and two driven wheels, described in the driving wheel connection
Control system.
Further, also include man-machine interactive system, the man-machine interactive system connection control system.
Advantageous effect：The multifunctional wheelchair of the present invention includes mechanical arm and functional unit, and functional unit includes to have to show
The assembly sea of display screen, user can be navigated using display screen, be entertained, browsing the operations such as webpage, and the back side of assembly sea can be made
For object disposing platform or take object pallet, mechanical arm and functional unit are foldable, in this way when that need not use mechanical arm with
And functional unit can store, and prevent it from influencing the normal use of user or blocking the visual field.The multifunctional wheelchair can be improved residual
The stand-alone capability of disease people, make its can complete independently some operation.
Description of the drawings
Attached drawing 1 is the structure chart of multifunctional wheelchair, and mechanical arm is in folded state with functional unit in figure；
Attached drawing 2 is the second state diagram of multifunctional wheelchair, and mechanical arm is in use state, and group with functional unit in figure
The one side for being not provided with display screen of part seat is upward；
Attached drawing 3 is the third state figure of multifunctional wheelchair, and mechanical arm is in use state, and group with functional unit in figure
One equipped with display screen of part seat is facing towards user；
Attached drawing 4 is the constitutional diagram of graping chaw and the second transition joints；
Attached drawing 5 is the structure chart of graping chaw；
Attached drawing 6 is the sectional view of graping chaw.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
Such as the attached multifunctional wheelchairs shown in Fig. 3 of attached drawing 1-, including wheelchair body 1, set that there are one two groups of machines in wheelchair body 1
Tool arm 2 is equipped with functional unit 3 on one of mechanical arm 2, graping chaw is equipped on another mechanical arm 2
4；Control system is provided on wheelchair, the mechanical arm 2, functional unit 3 and graping chaw 4 are all connected with control system, control
System processed can be with the movement of each movable joint of controling wheelchair.Two groups of mechanical arms 2 are set to the both sides of wheelchair body 1.
The mechanical arm 2 includes the first mechanical arm 21 being hinged and second mechanical arm 22, the first mechanical arm
21 connect the wheelchair body 1 and can rotate to it, and the second mechanical arm 22 can be rotated relative to first mechanical arm 21；Institute
Functional unit 3 is stated in the second mechanical arm 22；The first mechanical arm 21 is driven by first motor 23 relative to institute
1 controllable rotary of wheelchair body is stated, the second mechanical arm 22 can relative to the first mechanical arm 21 by the driving of the second motor 24
Control rotation.Tie point (the i.e. center of rotation of first mechanical arm 21 and first motor 23 of first mechanical arm 21 and wheelchair body 1
Installation site) be arranged in the front of wheelchair body 1.
The functional unit 3 includes flat assembly sea 31, and assembly sea 31 is provided with display screen 32 on one side；Described group
Part seat 31 connects the second mechanical arm 22 by transition joints 33, and the tool of the transition joints 33 is there are two cradle head, and two
The shaft of a cradle head is mutually perpendicular to；The shaft of a cradle head in transition joints 33 and the second mechanical arm 22
Length direction is parallel, this cradle head is known as the first cradle head, another cradle head is known as the second cradle head.First
Cradle head drives the assembly sea 31 to switch between receiving state and unfolded state；Under receiving state, the second cradle head
Shaft it is vertical；Under unfolded state, the shaft of the second cradle head is horizontal, at this point, the second cradle head can drive component seat 31
Around trunnion axis rotate so that the one side with display screen 32 of assembly sea 31 upward (as shown in Fig. 3) or not with show
Upward (as shown in Fig. 2), when it carries one side of display screen 32 upward, the second cradle head is adjustable for the one side of display screen 32
The pitch angle of display screen 32 makes it meet the viewing needs of user, when the one side not with display screen 32 upward when, assembly sea
31 can regard article tray use, user can place items within thereon or user can manipulator robot arm 2 make assembly sea 31
Reach remote position makes disabled person have the ability for independently taking object thereon to facilitate others to place items within.
The entirety of 3 the two of the mechanical arm 2 and functional unit can switch between folded state and use state, fold
Under state, as shown in Fig. 1, first mechanical arm 21 is horizontally disposed with second mechanical arm 22 and the two is Chong Die, the assembly sea
31 under upright state (receiving state i.e. described above), this state, and mechanical arm 2 is folded in wheel with functional unit 3
The side of chair will not interfere user to carry out other operations or block user's sight.
As pallet in use, article easily falls or topples over thereon, the assembly sea 31 is set assembly sea 31 in order to prevent
The back side for being equipped with the one side of display screen 32 is provided with one layer of magnet.The tableware cup and other items that user uses is special, bottom
Face is provided with small magnet or iron plate can achieve the purpose that be not easy to topple over or fall with magnet adsorption.
If shown in attached drawing 5 and attached drawing 6, the graping chaw 4 includes gripper seat 41, in the gripper seat 41 there are two installations
Can parallel opening or the clamping jaw 42 that closes up, and the both sides setting of gripper seat 41, there are two sucker 43, sucker 43 is connected by tracheae
Air compressor machine (is not shown in figure, air compressor machine is mounted in wheelchair body 1, and control system can control the keying of air compressor machine, need to use
When to sucker 43, control system just opens air compressor machine), and solenoid valve is provided on tracheae, solenoid valve connects the control system
System；Clamping jaw 42 can switch relative to gripper seat 41 between collapsed state and normal operating condition, under collapsed state, the clamping jaw 42
Entirety is fully located at after the suction inlet of the sucker 43.It is both provided with rubber pad 44 on the clamping face of each clamping jaw 42.
Specifically, follower link 45 and a band there are one being each all provided between the clamping jaw 42 and the gripper seat 41
There are the drive connecting rod 46 of gear 47, the drive connecting rod 46 to be mutually parallel with follower link 45, drive connecting rod 46, follower link
45, clamping jaw 42 and the hinge joint of cleft hand gripper seat 41 4 form parallelogram；Two 42 corresponding gear of clamping jaw, 47 phases
Mutually engagement, and one of drive connecting rod 47 is driven by cleft hand motor 48 and is rotated, and using such structure, is had very between clamping jaw 42
Big folding range is suitable for capturing different articles.
Graping chaw 4 is designed to that this structure, user can be as needed according to the feature selecting crawl sides for being crawled article
Formula goes to draw if article is flat using sucker 423, otherwise uses grasp mode.User can with independent pickoff in this way
It article on face and takes farther out or higher article.
In order to make graping chaw 4 that there are more degree of freedom, the graping chaw 4 to be connected to by the second transition joints 5
In the second mechanical arm 22 of the graping chaw 4；Second transition joints 5 tool is there are two cradle head, and two cradle heads
Shaft is mutually perpendicular to, and second transition joints 5 connect the control system, i.e. two rotary joints of the second transition joints 5
It is controlled and is rotated by control system.
As shown in Fig. 4, the second transition joints 5 include rotating seat 51, and rotating seat 51 can be in the drive of the first turning motor 52
It is turned round relative to second mechanical arm 22 under dynamic, graping chaw 4 is mounted on rotating seat 51, and 4 entirety of graping chaw can be second
It is turned round under the driving of turning motor 53.
In order to further increase the degree of freedom of graping chaw 4, the mechanical arm 2 of graping chaw 4 is installed by rotating bottom
Seat 6 is mounted in wheelchair body 1 so that mechanical arm 2 can be integrally relative to the wheelchair body 1 along vertical axes controllable rotating.
There are two driving wheels 11 and two driven wheels 12, the driving wheel 11 to connect the control for the tool of the wheelchair body 1
System processed.Differential motion by controlling two driving wheels 11 can realize the actions such as wheelchair straight trip, turning, cast.
Also include man-machine interactive system, the man-machine interactive system connects the control system.Man-machine interactive system can be with
Including the forms such as voice interactive system, manipulation handle control system, user can be inputted to control system by man-machine interactive system and be controlled
The identifiable instruction of system processed, control system act accordingly according to the instruction execution of people, are such as sent out to control system by voice
Go out to give an order：Wheelchair advances, retreats, turns left, turns round；Tray mode (the one side not with display screen 32 of assembly sea
Upward)；Entertainment mode (one side with display screen 32 of assembly sea is upward and display screen 32 is obliquely installed)；Manipulator closes up,
Sucker opening etc..Further, it is also possible to the fine movement by manipulating handle manipulator robot arm 2.
The multifunctional wheelchair of the present invention includes mechanical arm and functional unit, and functional unit includes the component with display screen
Seat, user can be navigated using display screen, be entertained, browsing the operations such as webpage, and the back side of assembly sea can be used as object disposing platform
Or object pallet is taken, mechanical arm and functional unit are foldable, in this way mechanical arm and functional unit when that need not use
It can store, prevent it from influencing the normal use of user or blocking the visual field.The independence of disabled person can be improved in the multifunctional wheelchair
Ability, make its can complete independently some operation.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of multifunctional wheelchair, it is characterised in that：Including wheelchair body (1), mechanical arm (2) and functional unit (3)；
The mechanical arm (2) includes the first mechanical arm (21) being hinged and second mechanical arm (22), first machinery
Arm (21) connects the wheelchair body (1) and can rotate to it, and the second mechanical arm (22) can be relative to first mechanical arm
(21) it rotates；The functional unit (3) is mounted in the second mechanical arm (22)；
The functional unit (3) includes flat assembly sea (31), and assembly sea (31) is provided with display screen (32) on one side；Institute
It states assembly sea (31) and connects the second mechanical arm (22) by transition joints (33), there are two turn for transition joints (33) tool
Movable joint, and the shaft of two cradle heads is mutually perpendicular to；
The mechanical arm (2) and functional unit (3) can switch between folded state and use state, under folded state, the
One mechanical arm (21) is horizontally disposed with second mechanical arm (22) and the two is Chong Die, and the assembly sea (31) is in upright state；
Further include control system, the mechanical arm (2) is all connected with control system with functional unit (3).
2. multifunctional wheelchair according to claim 1, it is characterised in that：The first mechanical arm (21) is by first motor
(23) driving drives phase relative to the wheelchair body (1) controllable rotary, the second mechanical arm (22) by the second motor (24)
For the first mechanical arm (21) controllable rotary.
3. multifunctional wheelchair according to claim 1, it is characterised in that：The assembly sea (31) is provided with display screen
(32) back side of one side is provided with one layer of magnet.
4. multifunctional wheelchair according to claim 1, it is characterised in that：It is provided with two groups of institutes on the wheelchair body (1)
Mechanical arm (2) is stated, on functional unit (3) mechanical arm (2) installed therein, on another mechanical arm (2)
Graping chaw (4) is installed.
5. multifunctional wheelchair according to claim 4, it is characterised in that：The graping chaw (4) includes gripper seat (41),
On the gripper seat (41) installation there are two can parallel opening or the clamping jaw (42) that closes up, and the both sides of gripper seat (41) are provided with
Two suckers (43), sucker (43) connects air compressor machine by tracheae, and solenoid valve is provided on tracheae, and solenoid valve connects the control
System processed；Clamping jaw (42) can switch relative to gripper seat (41) between collapsed state and normal operating condition, under collapsed state, institute
Clamping jaw (42) is stated integrally to be fully located at after the suction inlet of the sucker (43).
6. multifunctional wheelchair according to claim 5, it is characterised in that：It is both provided on the clamping face of each clamping jaw (42)
Rubber pad (44).
7. multifunctional wheelchair according to claim 5, it is characterised in that：The graping chaw (4) is closed by the second transition
Section (5) is connected in the second mechanical arm (22) of the graping chaw (4)；Second transition joints (5) have there are two cradle head,
And the shaft of two cradle heads is mutually perpendicular to, second transition joints (5) connect the control system.
8. multifunctional wheelchair according to claim 4, it is characterised in that：The mechanical arm (2) of graping chaw (4) is installed
It is mounted in wheelchair body (1) by rotating base (6) so that mechanical arm (2) can be integrally relative to the wheelchair body (1)
Along vertical axes controllable rotating.
9. according to claim 1-8 any one of them multifunctional wheelchairs, it is characterised in that：The wheelchair body (1) has two
A driving wheel (11) and two driven wheels (12), the driving wheel (11) connect the control system.
10. according to claim 1-8 any one of them multifunctional wheelchairs, it is characterised in that：Also include man-machine interactive system, institute
It states man-machine interactive system and connects the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810430846.7A CN108670595A (en) | 2018-05-08 | 2018-05-08 | A kind of multifunctional wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810430846.7A CN108670595A (en) | 2018-05-08 | 2018-05-08 | A kind of multifunctional wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108670595A true CN108670595A (en) | 2018-10-19 |
Family
ID=63802993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810430846.7A Pending CN108670595A (en) | 2018-05-08 | 2018-05-08 | A kind of multifunctional wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108670595A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123051A (en) * | 2019-06-29 | 2019-08-16 | 吉林大学 | A kind of disabled person's seat special |
| CN112025670A (en) * | 2020-07-29 | 2020-12-04 | 义乌工商职业技术学院 | Multi-joint wheelchair mechanical arm for helping the old and the disabled |
| US11534351B1 (en) * | 2019-12-11 | 2022-12-27 | Juvenal Suarez | Wheelchair comprising a mechanical arm for assisting a user |
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| CN103448069A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Manipulator for wheelchair |
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| CN204566148U (en) * | 2015-04-08 | 2015-08-19 | 杭州南江机器人股份有限公司 | A kind ofly two refer to manipulator with Pneumatic suction cup and clamping air bag |
| US20170095382A1 (en) * | 2014-03-21 | 2017-04-06 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
| CN208942614U (en) * | 2018-05-08 | 2019-06-07 | 昆山市工研院智能制造技术有限公司 | A kind of multifunctional wheelchair |
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- 2018-05-08 CN CN201810430846.7A patent/CN108670595A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN202554295U (en) * | 2012-03-21 | 2012-11-28 | 宁波大学 | Full-automatic wheelchair |
| CN103448069A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Manipulator for wheelchair |
| US20170095382A1 (en) * | 2014-03-21 | 2017-04-06 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
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| CN204420469U (en) * | 2015-01-28 | 2015-06-24 | 张笑阳 | A kind of multifunction electronic product shelves |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123051A (en) * | 2019-06-29 | 2019-08-16 | 吉林大学 | A kind of disabled person's seat special |
| CN110123051B (en) * | 2019-06-29 | 2022-03-08 | 吉林大学 | Special chair for disabled people |
| US11534351B1 (en) * | 2019-12-11 | 2022-12-27 | Juvenal Suarez | Wheelchair comprising a mechanical arm for assisting a user |
| CN112025670A (en) * | 2020-07-29 | 2020-12-04 | 义乌工商职业技术学院 | Multi-joint wheelchair mechanical arm for helping the old and the disabled |
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