CN102309381B - Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground - Google Patents
Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground Download PDFInfo
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- CN102309381B CN102309381B CN 201110239969 CN201110239969A CN102309381B CN 102309381 B CN102309381 B CN 102309381B CN 201110239969 CN201110239969 CN 201110239969 CN 201110239969 A CN201110239969 A CN 201110239969A CN 102309381 B CN102309381 B CN 102309381B
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Abstract
The invention discloses a self-balancing electric wheelchair capable of going up and down the stairs and walking on the flat ground, comprising a seat (1), a wheelchair frame (2) and wheels (3), wherein the seat (1) is fixedly arranged on the wheelchair frame (2). The self-balancing electric wheelchair is characterized in that the number of the wheels (3) is two; the wheels (3) are distributed atthe two sides of the seat (1) in a manner of bilateral symmetry; the wheelchair frame (2) is provided with two servo motors (4); each servo motor (4) is in transmission connection with one wheel (3);at least three hydraulic arms (5) are uniformly arranged on a wheel shaft along the circumferential direction of the wheel shaft at the outer side or the inner side of each wheel (3); each hydraulic arm (5) can extend out along the radial direction of the wheel shaft; a driving cylinder (6) is arranged on the hydraulic arms (5) and is connected with an oil pump by an oil pipe and a hydraulic electromagnetic valve; and the hydraulic electromagnetic valve and the oil pump are arranged on the wheelchair frame (2). The self-balancing electric wheelchair can walk on the flat ground and also can goup and down the stairs; and the structure is simpler and the cost is low.
Description
Technical field
The invention belongs to a kind of special vehicles, be the walking-replacing tool of a kind of dynamic driving of providing for the handicapped personage of lower limb, but be specially the self-balancing electric wheel chair that a kind of stair activity is walked pacifically.
Background technology
Wheelchair is the very important walking-replacing tool of individuals with disabilities, patient and old people of lower limb exercise inconvenience.Electric wheelchair of the prior art comprises seat, body framework and wheel, and wherein seat is fixed on the body framework, and wheel is two or four, is symmetrically arranged in the both sides of seat, and the power wheel on the body framework rotates, and makes wheel chair sport.When wheel was four, the occupant assisted on the side namely can keep the wheelchair balance without the need for the people; When wheel is two, need there be the people to assist the occupant to keep the wheelchair balance on the side.No matter wheel is two or four wheelchair, and stair activity is all very difficult.For making the wheelchair can stair activity, common wheel is become pocket-wheel or crawler wheels, but this kind wheelchair is not suitable for level walking, versatility is not strong; The other complex structure of pocket-wheel or crawler wheels, cost is very high.
Summary of the invention
But the invention provides a kind of again self-balancing electric wheel chair of stair activity of level walking that gets final product, structure is comparatively simple, and cost is low.
For achieving the above object, the technical solution used in the present invention is: but the self-balancing electric wheel chair that a kind of stair activity is walked pacifically, described wheelchair comprises seat, body framework and wheel, wherein seat is fixed on the body framework, described wheel is two, these two wheels are symmetrically arranged in the both sides of seat, described body framework is provided with two servomotors, each servomotor is connected with a wheel drive, on the wheel shaft of each lateral wheel or inboard, along wheel shaft at least three hydraulic arms are set evenly circumferentially, each hydraulic arm all extends radially out along wheel shaft, hydraulic arm is provided with the driving oil cylinder, and this driving oil cylinder is connected with oil pump with hydraulic buttery valve through oil pipe, and described hydraulic buttery valve and oil pump are installed on the body framework.
Related content in the technique scheme is explained as follows:
In the such scheme, the gauge tap of described oil pump and servomotor is located on the handrail of seat.
Operation principle of the present invention is: seat is provided with gravity sensor, be provided with for the detector of surveying wheelchair the place ahead and rear road conditions, for the electric-control system of the oil pump of controlling servomotor and hydraulic arm and battery or the electromotor that is used for providing power supply at body framework, servomotor, hydraulic arm, gravity sensor and detector are electrically connected with electric-control system.
When detector detects wheelchair the place ahead and is the level land, the electric control system controls hydraulic arm is retracted to its length less than radius of wheel, the wheel rim of wheel lands, electric control system controls driven by servomotor rotation of wheel, during turning, one of them power supply of two servomotors is cut off, and two wheels produce differential, realize the turning of wheelchair.During the straight line driving, the synchronized rotation of two driven by servomotor two wheels.The occupant sits on the seat, and when rider's body was upright, gravity sensor detected the line center that the wheelchair center of gravity drops on left and right wheel and ground contact point, and wheelchair keeps balance motionless, and wheel is static, and this is that wheelchair is in the equipoise on level land; When rider's body leans forward, gravity sensor detects the reach of wheelchair center of gravity, electric-control system is exported control signal to servomotor according to the induced signal of gravity sensor, the driven by servomotor wheel rotates forward, and control the strength size that wheel advances according to the size of wheelchair angle of inclination and angular velocity, the moment of torsion that one side balance people and wheelchair are toppled over is forward kept the wheelchair balance, produces on the one hand the acceleration that allows wheelchair advance; When rider's body retreats, gravity sensor moves after detecting the wheelchair center of gravity, electric-control system is exported control signal to servomotor according to the induced signal of gravity sensor, the driven by servomotor wheel rotates backward, and control the strength size that wheel retreats according to the size of wheelchair angle of inclination and angular velocity, the moment of torsion that one side balance people and wheelchair are toppled over is backward kept the wheelchair balance, produces on the one hand the acceleration that allows wheelchair retreat, to slow down or to brake; Be the occupant if the angle that changes own health forward or toward hypsokinesis, wheelchair will advance, retreat, slow down or brake according to the direction that tilts, and the degree of wheelchair road speed and rider's body inclination is proportional, has realized the man-machine interaction inductive control.
When detector detects wheelchair the place ahead and is stair, the information such as rank are high, rank distance are passed to electric-control system, the electric control system controls oil pump drive hydraulic arm to wheel radially the outer direction extend out to hydraulic arm length greater than radius of wheel, and hydraulic arm length with respect to the stair rank high and rank apart from being in correct position, the hydraulic arm outer end lands, the speed that the electric control system controls hydraulic arm alternately stretches out makes wheelchair climb to upper level or next stage step, realizes going upstairs or going downstairs.
For guaranteeing the comfortable of occupant, when going upstairs, people's face is back to direction of advance; When going downstairs, people's face can be kept upright occupant's the upper part of the body towards direction of advance always, is the equilibrium figure of wheelchair.Gravity sensor senses the speed of stretching out that control oil pump behind the position of centre of gravity of wheelchair and occupant's integral body drives hydraulic arm, makes wheelchair keep balance.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1, because the present invention's hydraulic arm when level walking shrinks, and felly lands, and hydraulic arm stretches out and lands when upper and lower stair, makes wheelchair namely be suitable for level walking, again can stair activity, so highly versatile.
2, because left and right wheels of the present invention by different driven by servomotor, can reduce the radius of turn of wheelchair, make wheelchair can be in little spatial dimension flexible motion.
Description of drawings
Accompanying drawing 1 is the structural representation of the embodiment of the invention;
User mode figure when accompanying drawing 2 is accompanying drawing 1 level land balance;
The accompanying drawing 3 user mode figure when advancing on accompanying drawing 1 level land;
User mode figure when accompanying drawing 4 retreats for accompanying drawing 1 level land;
Accompanying drawing 5 is the user mode figure of accompanying drawing 1 when going upstairs.
In the above accompanying drawing: 1, seat; 2, body framework; 3, wheel; 4, servomotor; 5, hydraulic arm; 6, drive oil cylinder; 7, handrail; 8, gauge tap; 9, gravity sensor.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples:
Embodiment: shown in accompanying drawing 1, but the self-balancing electric wheel chair that a kind of stair activity is walked pacifically, wheelchair comprises seat 1, body framework 2 and wheel 3, wherein seat 1 is fixed on the body framework 2, wheel 3 is two, these two wheels 3 are symmetrically arranged in the both sides of seat 1, body framework 2 is provided with two servomotors 4, each servomotor 4 and a wheel 3 are in transmission connection, on the wheel shaft in each wheel 3 outside, along wheel shaft three hydraulic arms 5 are set evenly circumferentially, hydraulic arm 5 can be four in other examples, five or more, hydraulic arm 5 also can be arranged on the wheel shaft of wheel 3 inboards in addition.Each hydraulic arm 5 all extends radially out along wheel shaft, and hydraulic arm 5 is provided with and drives oil cylinder 6, and this driving oil cylinder 6 is connected with oil pump with hydraulic buttery valve through oil pipe, and hydraulic buttery valve and oil pump are installed on the body framework 2.The gauge tap 8 of oil pump and servomotor 4 is located on the handrail 7 of seat 1.
Seat 1 is provided with gravity sensor 9, be provided with for the detector of surveying wheelchair the place ahead and rear road conditions, for the electric-control system of the oil pump of controlling servomotor 4 and hydraulic arm 5 and battery or the electromotor that is used for providing power supply at body framework 2, servomotor 4, hydraulic arm 5, gravity sensor 9 and detector are electrically connected with electric-control system.This kind keep motion and the self-balancing electric-control system of balance on the books in the prior art, Chinese patent (the patent No.: 02258700.4) shown in " self-balancing electric motor car with two wheels ", control motion and the poised state of wheel and car body by being located at control circuit, drive circuit and sensor parts on the wheelchair for example.
When detector detected wheelchair the place ahead and is the level land, electric control system controls hydraulic arm 5 was retracted to its length less than radius of wheel 3, and the wheel rim of wheel 3 lands, and electric control system controls servomotor 4 drives wheels 3 rotations.In straight line when driving,, two servomotors 4 drive the 3 synchronized rotations of two wheels, and during turning, one of them power supply of two servomotors 4 is cut off, and two wheels 3 produce differentials, realize the turning of wheelchair.
Shown in accompanying drawing 2, the occupant is sitting on the seat 1, when rider's body is upright, the wheelchair center of gravity that detects gravity sensor 9 drops on the line center of left and right wheel 3 and ground contact point, wheelchair keeps balance motionless, and wheel is static, and this is that wheelchair is in the equipoise on level land.
Shown in accompanying drawing 3, when rider's body leans forward, gravity sensor 9 detects the reach of wheelchair center of gravity, electric-control system is exported control signal to servomotor 4 according to the induced signal of gravity sensor 9, servomotor 4 drives wheel 3 and rotates forward, and controls the strength size that wheel 3 advances, the moment of torsion that one side balance people and wheelchair are toppled over forward according to the size of wheelchair angle of inclination and angular velocity, keep the wheelchair balance, produce on the one hand the acceleration that allows wheelchair advance.
Described referring to accompanying drawing 4, when rider's body retreats, gravity sensor 9 moves after detecting the wheelchair center of gravity, electric-control system is exported control signal to servomotor 4 according to the induced signal of gravity sensor 9, servomotor 4 drives wheel 3 and rotates backward, and controls the strength size that wheel 3 retreats, the moment of torsion that one side balance people and wheelchair are toppled over backward according to the size of wheelchair angle of inclination and angular velocity, keep the wheelchair balance, produce on the one hand the acceleration that allows wheelchair retreat, to slow down or to brake.
The occupant if the angle that changes own health forward or toward hypsokinesis, wheelchair will advance, retreat, slow down or brake according to the direction that tilts, and the degree of wheelchair road speed and rider's body inclination is proportional, has realized the man-machine interaction inductive control.
Shown in accompanying drawing 5, when detector detects wheelchair the place ahead and is stair, the information such as rank are high, rank distance are passed to electric-control system, the electric control system controls oil pump drive hydraulic arm 5 to wheel 3 radially the outer direction extend out to hydraulic arm 5 length greater than wheel 3 radiuses, and high and rank are apart from being in correct position with respect to the stair rank for hydraulic arm 5 length, and hydraulic arm 5 outer ends land, the speed that electric control system controls hydraulic arm 5 alternately stretches out, make wheelchair climb to upper level or next stage step, realize going upstairs or going downstairs.
For guaranteeing the comfortable of occupant, when going upstairs, people's face is back to direction of advance; When going downstairs, people's face can be kept upright occupant's the upper part of the body towards direction of advance always, is the equilibrium figure of wheelchair.Gravity sensor 9 senses the speed of stretching out that control oil pump behind the position of centre of gravity of wheelchair and occupant's integral body drives hydraulic arm 5, makes wheelchair keep balance.
Above-described embodiment only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage who is familiar with technique can understand content of the present invention and according to this enforcement, can not limit protection scope of the present invention with this.All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (2)
1. but self-balancing electric wheel chair that stair activity is walked pacifically, described wheelchair comprises seat (1), body framework (2) and wheel (3), wherein seat (1) is fixed on the body framework (2), it is characterized in that: described wheel (3) is two, these two wheels (3) are symmetrically arranged in the both sides of seat (1), described body framework (2) is provided with two servomotors (4), each servomotor (4) is in transmission connection with a wheel (3), on the wheel shaft of each wheel (3) outside or inboard, along wheel shaft at least three hydraulic arms (5) are set evenly circumferentially, each hydraulic arm (5) all extends radially out along wheel shaft, hydraulic arm (5) is provided with and drives oil cylinder (6), this driving oil cylinder (6) is connected with oil pump with hydraulic buttery valve through oil pipe, and described hydraulic buttery valve and oil pump are installed on the body framework (2);
Described seat (1) is provided with gravity sensor (9), be provided with for the detector of surveying wheelchair the place ahead and rear road conditions, for the electric-control system of the oil pump of controlling servomotor (4) and hydraulic arm (5) and battery or the electromotor that is used for providing power supply at body framework (2), servomotor (4), hydraulic arm (5), gravity sensor (9) and detector are electrically connected with electric-control system;
When detector detected wheelchair the place ahead and is the level land, electric control system controls hydraulic arm (5) was retracted to its length less than the radius of wheel (3), and the wheel rim of wheel (3) lands, and electric control system controls servomotor (4) drives wheel (3) rotation; During turning, one of them power supply of two servomotors (4) is cut off, and two wheels (3) produce differential, realizes the turning of wheelchair; During the straight line driving, two servomotors (4) drive the synchronized rotation of two wheels (3);
When detector detects wheelchair the place ahead and is stair, rank are high, rank are passed to electric-control system apart from information, the electric control system controls oil pump drive hydraulic arm (5) to wheel (3) radially the outer direction extend out to hydraulic arm (5) length greater than wheel (3) radius, and hydraulic arm (5) length with respect to the stair rank high and rank apart from being in correct position, hydraulic arm (5) outer end lands, the speed that electric control system controls hydraulic arm (5) alternately stretches out, make wheelchair climb to upper level or next stage step, realize going upstairs or going downstairs;
Gravity sensor (9) senses the position of centre of gravity of wheelchair and occupant's integral body, and control oil pump drives the speed of stretching out of hydraulic arm (5), makes wheelchair keep balance.
2. but the stair activity according to claim 1 self-balancing electric wheel chair of walking pacifically, it is characterized in that: the gauge tap (8) of described oil pump and servomotor (4) is located on the handrail (7) of seat (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110239969 CN102309381B (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110239969 CN102309381B (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
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| Publication Number | Publication Date |
|---|---|
| CN102309381A CN102309381A (en) | 2012-01-11 |
| CN102309381B true CN102309381B (en) | 2013-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110239969 Active CN102309381B (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072429B (en) * | 2013-01-24 | 2015-10-28 | 东华大学 | A kind of wheel that may be used for climbing building and travel pacifically |
| CN105109601A (en) * | 2015-08-17 | 2015-12-02 | 华钟祥 | Dual-drive balance wheelchair |
| US10772774B2 (en) | 2016-08-10 | 2020-09-15 | Max Mobility, Llc | Self-balancing wheelchair |
| CN106420202B (en) * | 2016-11-03 | 2018-06-15 | 国家康复辅具研究中心 | Dynamic balancing electric wheelchair |
| CN106428398A (en) * | 2016-12-05 | 2017-02-22 | 何武 | Handlebar-free steering type electric vehicle |
| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| CN112168520A (en) * | 2020-11-03 | 2021-01-05 | 苏州知遇光电科技有限公司 | Wheel chair |
| CN112754791B (en) * | 2021-01-26 | 2023-11-24 | 美而特智能后勤服务有限公司 | Patient rehabilitation wheelchair with adjustable wheel inclination angle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2555822Y (en) * | 2002-06-05 | 2003-06-18 | 薛致祥 | Stair-going up electric wheel-chair |
| FR2898489B1 (en) * | 2006-03-20 | 2010-02-19 | Heron Technologies Sas | WHEELCHAIR ADAPTED TO STAIRS |
| CN200973788Y (en) * | 2006-12-01 | 2007-11-14 | 马捷 | Electric wheelchair capable of climbing stairs upward and downward and getting over small obstacles |
| CN101402382A (en) * | 2008-10-23 | 2009-04-08 | 王金星 | Vehicle for helping troops make up of the old and weak to go upstairs and downstairs |
| CN202198769U (en) * | 2011-08-19 | 2012-04-25 | 钟群明 | Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground |
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| CN102309381A (en) | 2012-01-11 |
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| C14 | Grant of patent or utility model | ||
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Application publication date: 20120111 Assignee: Suzhou well Precision Machinery Engineering Co., Ltd. Assignor: Zhong Qunming Contract record no.: 2016320010001 Denomination of invention: Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground Granted publication date: 20131016 License type: Exclusive License Record date: 20160119 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
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Effective date of registration: 20170511 Address after: 215134 Fengyang village, Weitang Town, Suzhou, Jiangsu, Xiangcheng District Patentee after: Suzhou well Precision Machinery Engineering Co., Ltd. Address before: 215132, No. 2 Industrial Zone, Huang Zhen Town, Suzhou, Jiangsu, Xiangcheng District Patentee before: Zhong Qunming |