CN103230319A - Wheelchair seat position and posture adjusting mechanism - Google Patents
Wheelchair seat position and posture adjusting mechanism Download PDFInfo
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- CN103230319A CN103230319A CN2013101652205A CN201310165220A CN103230319A CN 103230319 A CN103230319 A CN 103230319A CN 2013101652205 A CN2013101652205 A CN 2013101652205A CN 201310165220 A CN201310165220 A CN 201310165220A CN 103230319 A CN103230319 A CN 103230319A
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Abstract
The invention discloses a wheelchair seat position and posture adjusting mechanism. The wheelchair seat position and posture adjusting mechanism is characterized by mainly comprising a cross four-rod mechanism a seat lifting mechanism, a seat manually-leveling mechanism, a seat electrically-leveling mechanism, a seat locking mechanism and a control system. The cross four-rod mechanism mainly comprises a right cross rod, a left cross rod, a left sliding block, a right sliding block, a left screw shaft and a right screw shaft. The seat lifting mechanism mainly comprises a seat manually-adjusting lifting mechanism and an electrically-adjusting lifting mechanism. The seat manually-leveling mechanism mainly comprises a leveling handle, a left upper wheel gear, a right upper wheel gear, a left middle wheel gear, a middle shaft, an upper tie bar, a right middle wheel gear, an upper sector gear, a small shaft, a left lower wheel gear and a right lower wheel gear and a long shaft. The electrically-leveling mechanism mainly comprises a leveling motor, a left spur wheel gear, a right spur wheel gear, a short shaft, a lower sector gear, a lower tie bar, a left spur wheel gear, a lower shaft and a right lower spur wheel gear. The seat locking mechanism mainly comprises a cam, a spring ball, a lower sliding block, a left upper spur wheel gear and a right upper spur wheel gear.
Description
Technical field
The present invention relates to the wheelchair technology, be specially a kind of wheelchair seat pose governor motion.This governor motion is applicable on the wheelchair of climbing stairs ladder.
Background technology
Wheelchair generally only is adapted at walking on the level land.The scope of application of electric wheelchair has been limited in stair, obstacle and gully etc., so begin one's study can stair climbing and the electric wheelchair of leaping over obstacles for people.In the process that the electric wheelchair of stair climbing is studied, should be topmost to the safety of user.Therefore, the seat of stair climbing electric wheelchair should be regulated.Among " a kind of stair climbing wheelchair of wheel group structure " (referring to " modern mechanical " the 6th phase P233-P235 in 2010) of the superfine people's design of Lee, a kind of wheelchair seat governor motion is disclosed, its major technique content is to have designed a kind of seat regulator of raceway slide rail type, mainly formed by arc-shaped rail and roller bearing, slide rail is welded on the sole, roller bearing is fixed on the support of seat bottom by being threaded, its axle head is equipped with bearing and can rolls in slide rail, utilizes center of gravity to regulate the pose state automatically.The weak point of this structure is that the braking of roller bearing needs special mechanism to be limited, and has increased structural complexity, and this mechanism is the horizontal adjustment of seat when realizing the wheelchair stair climbing only, the vertical lifting of seat in the time of but can not realizing the level land.In " research and analysis of stair climbing wheelchair " literary composition that people such as deer peak China deliver, adopted a kind of double-track seat regulator, this structure adopts four activity small wheels to roll in four fixing chutes and realizes the adjusting of seat position.Mechanism can guarantee that fluctuation is as far as possible little in the adjustment process, but it must have corresponding locking device cooperation just can finish mechanism's complexity.In the patent of people such as Xiong Kun application " a kind of wheelchair automatic horizontal is regulated seat " (referring to patent CN202223455U), adopted seat level angle governor motion, seat level angle governor motion comprises the guide rail that is fixed in below seat main body two side handrails, be stuck in the guide rail and the slide block that can slide within the specific limits, and be fixed on the support and the sheave of circumference band groove structure, middle part and the support of slide block are hinged, sheave is concentric with the dumpling axle, locking spring and locking teeth are equipped with in slide block inside, be exposed at the slide block lower end outside the locking teeth bottom, and be stuck in automatically in the groove of sheave circumference, in the process of horizontal adjustment chair angle, play the effect of locking and buffering, this mechanism has the function that can adjust chair angle automatically, but the backrest of this mechanism and the variable angle between the seat are less than 10 °, for some inclination angles bigger stair or gully, be difficult to meet the demands.The patent of people such as Liu Xueming application " based on the wheelchair level governor motion of center of gravity wheel " (referring to patent CNl02488596A), be to be constituted by center of gravity wheel, two push rods of cranking arm, two connecting lines and back shaft, center of gravity wheel and back shaft interconnection, the center of gravity wheel is connected with two push rods of cranking arm by connecting line.This structure utilizes center of gravity wheel regulatory mechanism to remain center of gravity expansion force vertically downward at wheelchair downstairs the time, by head mobile elongate crank arm push rod so that seat front portion or rear portion raise to adjust its level.This mechanism adopts simple mechanical part to realize adjusting automatically, do not rely on and utilize the driving of any additionaling power, but when the stair activity seat adjustment, the fluctuation center of gravity of seat is bigger, when the level land, can not realize the lifting of seat.These problems have limited its promoting the use of in daily life.
The iBOT type electric wheelchair of the U.S., it is furnished with gyroscope and the complicated computer system of perception people-wheelchair position of centre of gravity, can adjust position of centre of gravity at any time guaranteeing the balance of wheelchair, but the center of gravity fluctuation is bigger equally, needs the user just can stair activity by means of balustrade.The iBOT seat regulator is complicated, expensive, and a lot of people can hang back, and are unfavorable for popularizing.The wheelchair of the TopChair model of France, its seat regulator mainly are that seat chair bottom connects a hydraulic stem, by stretching of hydraulic stem, keep the level of seat.The seat regulator of this model wheelchair has used hydraulic cylinder to combine with mechanism kinematic, processing and manufacturing and the assembling of wheelchair brought certain degree of difficulty, and cost is very high.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is that a kind of wheelchair seat pose governor motion is provided, this mechanism can be good at solving the seat tilt problem of wheelchair in stair activity or obstacle detouring process, in the process of stair climbing up and down of wheelchair, remain steadily, provide important guarantee to the safety of user, and has motion flexibly, can realize manually regulating with electronic pair, safe, good stability, low price, easy to operate.
The technical scheme that the present invention solve the technical problem is, design a kind of wheelchair seat pose governor motion, this seat pose governor motion mainly is made up of intersection four-bar mechanism 1, seat riser 2, manual seat levelling gear 3, automatic seat levelling gear 4, seat retaining mechanism 5 and control system.
Described intersection four-bar mechanism mainly is made up of right crossbar, left crossbar, left slider, right slide block, left screw axis and right screw axis; The upper end of right crossbar and left crossbar is consolidated in the bottom of left slider and right slide block respectively, and left slider and right slide block are installed in an end of left screw axis and right screw axis respectively; Left side screw axis and right screw axis are installed on the big support;
Seat riser comprises manual adjustments seat riser and motorized adjustment seat riser; The manual adjustments seat riser is mainly formed by heightening handle, left gear, right gear, axle, last bevel gear, left angular wheel and right bevel gear; Left gear and right gear all are spur gears, the two transmitting movement and increasing speed of being meshing with each other; Right gear and last bevel gear all are installed on the axle; Last bevel gear respectively with left angular wheel, right bevel gear engaged transmission, left screw axis and right screw axis drive respectively left slider and right slide block do mutually near or mutually away from motion, realize the rise and fall of seat; The motorized adjustment seat riser is to substitute and to heighten handle, left gear and right gear in the manual adjustments seat riser with heightening motor, concrete structure is that last bevel gear is installed on the axle of heightening motor, left angular wheel is installed in an end of left screw axis, and right bevel gear is installed in an end of right screw axis;
Manually the seat levelling gear mainly is made up of leveling handle, upper left gear, upper right gear, left middle gear, axis, last tie-rod, right middle gear, last sector gear, little axle, lower-left gear, bottom right gear and major axis; Upper left gear and right middle gear all are spur gears, and the two engagement transferring power and realization are slowed down; A left side middle gear, axis, go up tie-rod, right middle gear, little axle and go up sector gear and form epicyclic train, lower-left gear and bottom right gear all are spur gears, transmission between epicyclic train and this two spur gear realizes the transmission of power between Handle axis and the major axis, and by effective gear ratio, realize the angular displacement of deceleration and increase Handle axis;
The automatic seat levelling gear mainly is made up of leveling motor, left spur gear, right spur gear, minor axis, following sector gear, following tie-rod, lower-left spur gear, lower shaft and bottom right spur gear; Left side spur gear and right spur gear are meshing with each other, right spur gear is along with tie-rod rotation down, guarantee simultaneously to be meshed with following sector gear, left spur gear, right spur gear, minor axis, down sector gear and down tie-rod form epicyclic train, transferring power and by effective gear ratio realization deceleration; Lower-left spur gear and bottom right spur gear are meshing with each other, and realize transmission and the deceleration of power;
The seat retaining mechanism mainly is made up of cam, spring ball, sliding block, upper left spur gear and upper right spur gear; Cam is installed in an end of leveling handle axle, and the spring ball is installed in cam inside, glides to contacting with spring ball and upper left spur gear respectively soon.Cam is mainly realized the transmission of power, and the spring ball mainly is the engagement that guarantees sliding block and upper left spur gear, the upper left spur gear transmitting movement that is connected with upper right spur gear;
Described control system mainly comprises master controller, driver module, keyboard input module and sensing detection module, and wherein driver module comprises described leveling motor and heightens motor.
Compared with prior art, wheelchair seat pose governor motion of the present invention has the following advantages:
1. wheelchair seat adjustable height; Can make the height of wheelchair seat rise or descend by manual or motorized adjustment, thereby make things convenient for user; The lifting locking mechanism is simple, dependable performance;
2. simple in structure, motion flexibly; Can realize the manual and electronic dual mode adjusting of seat pose, and easy switching, the user can regulate whenever and wherever possible according to the needs of oneself;
3. the suitable safety of wheelchair seat is good; Adjusting angle is 0 ° ~ ± 45 °, and scope is big, and reliability height, stability and safety are good; The seat pose is regulated requirement in the time of can being satisfied with the bigger stair of gradient or obstacle detouring; In process upstairs or downstairs, all can guarantee the horizontal attitude of wheelchair seat, and it is little to fluctuate up and down, the safety of user has been played certain guaranteeing role, comfortableness is better simultaneously.
Description of drawings
Fig. 1 is the population structure sketch map of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 2 is the intersection four-bar mechanism sketch map of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 3 is the seat riser sketch map of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 4 is that the manual seat levelling gear axle of a kind of embodiment of wheelchair seat pose governor motion of the present invention is surveyed sketch map;
Fig. 5 is the manual seat levelling gear floor map of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 6 is the seat locking structural scheme of mechanism of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 7 is that the automatic seat levelling gear axle of a kind of embodiment of wheelchair seat pose governor motion of the present invention is surveyed sketch map;
Fig. 8 is the automatic seat levelling gear planar structure sketch map of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
The seat pose was regulated sketch map when Fig. 9 was the stair activity of a kind of embodiment of wheelchair seat pose governor motion of the present invention; Wherein,
Fig. 9 (1) seat pose when going upstairs is regulated sketch map; Comprise the seat pose sketch map when (a) wheelchair is on the level land; (b) go upstairs sketch map after the seat pose is regulated in the process; Sketch map after seat pose when (c) soon having gone up stair is regulated; Seat pose sketch map when (d) finishing stair on the wheelchair;
Fig. 9 (2) seat pose when going downstairs is regulated sketch map; Comprise the sketch map after the seat pose of (a) wheelchair when soon going downstairs regulated; (b) go downstairs sketch map after the seat pose is regulated in the process; Sketch map after seat pose when (c) soon having descended stair is regulated; (d) the seat pose sketch map after wheelchair is gone downstairs fully;
Figure 10 is the altitude mixture control sketch map of the seat of a kind of embodiment of wheelchair seat pose governor motion of the present invention; Wherein,
Figure 10 (1) is that the low pose of seat is regulated sketch map;
Figure 10 (2) is that the high pose of seat is regulated sketch map;
Figure 11 is the control system structured flowchart of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Figure 12 is the programme-control block diagram of a kind of embodiment of wheelchair seat pose governor motion of the present invention.
The specific embodiment
The invention will be further described below in conjunction with embodiment and accompanying drawing thereof:
The wheelchair seat pose governor motion of the present invention's design (is called for short governor motion or mechanism, referring to Fig. 1-12), it is characterized in that this governor motion comprises intersection four-bar mechanism 1, seat riser 2, manual seat levelling gear 3, automatic seat levelling gear 4, seat retaining mechanism 5 and control system.
Described intersection four-bar mechanism 1 is made up of right crossbar 104, left crossbar 103, left slider 101, right slide block 106, left screw axis 102 and right screw axis 105; The upper end of right crossbar 104 and left crossbar 103 is consolidated in the bottom of left slider 101 and right slide block 106 respectively, and left slider 101 and right slide block 106 are installed in an end of left screw axis 102 and right screw axis 105 respectively; Left side screw axis 102 and right screw axis 105 are installed on the big support 211.
The automatic seat elevating mechanism is with the manual difference of seat riser: the automatic seat lifting structure is to substitute and heighten handle 201, left gear 202 and right gear 203 in the manual seat lifting structures with heightening motor 210.Concrete structure is that last bevel gear 206 is installed on the axle of heightening motor 210, and left angular wheel 207 is installed in an end of left screw axis 102, and right bevel gear 208 is installed in an end of right screw axis 105.
The seat levelling gear comprises manual seat levelling gear 3 and automatic seat levelling gear 4.Manually seat levelling gear 3 mainly is made up of leveling handle 302, upper left gear 303, upper right gear 304, left middle gear 313, axis 312, last tie-rod 310, right middle gear 308, last sector gear 305, little axle 309, lower-left gear 306, bottom right gear 307, major axis 311; Upper left gear 303 is installed in an end of leveling handle 302, and upper right gear 304 is fixed together by screw with left middle gear 313 and the two all is installed on the axle 312.Right middle gear 308 is installed on the little axle 309.Right middle gear 308 is meshed with left middle gear 313 and last sector gear 305 respectively.Little axle 309 is consolidated together with tie-rod 310, and tie-rod 310 links together by screw and axis 312.Lower-left gear 306 is installed on axis 312 and the major axis 311 with key respectively with bottom right gear 307.Left side middle gear 313, axis 312, last tie-rod 310, right middle gear 308, little axle 309, last sector gear 305 have been formed epicyclic train jointly.Upper left gear 303 all is spur gear with right middle gear 308, and the two engagement can transferring power, can also realize slowing down.Lower-left gear 306, bottom right gear 307 all are spur gears, transmission purpose between epicyclic train and two spur gears is the transmission of power that realizes between Handle axis 302 and the major axis 311, and realizes the angular displacement of certain deceleration and increase Handle axis by effective gear ratio.
Automatic seat levelling gear 4 mainly is made up of leveling motor 409, left spur gear 401, right spur gear 402, minor axis 407, following sector gear 403, following tie-rod 408, lower-left spur gear 404, lower shaft 406, bottom right spur gear 405; Left side spur gear 401 is installed in an end of the axle of leveling motor 409, and right spur gear 402 is installed on the minor axis 407, and right spur gear 402 is meshed with left spur gear 401 and following sector gear 403 respectively.Following tie-rod 408 and minor axis 407 Joints, following tie-rod 408 is installed on the lower shaft 406 by screw, and lower-left spur gear 404 is installed in respectively on lower shaft 406 and the major axis 311 with bottom right spur gear 405.Left side spur gear 401 is meshing with each other with right spur gear 402, right spur gear 402 is along with tie-rod 408 rotations down, guarantee simultaneously to be meshed with following sector gear 403, a left side spur gear 401, right spur gear 402, minor axis 407, down sector gear 403, tie-rod 408 has been formed epicyclic train jointly down, main purpose is transferring power and by the bigger deceleration of effective gear ratio realization.Lower-left spur gear 404 is meshing with each other with bottom right spur gear 405, realizes transmission and the deceleration of power.
Described seat retaining mechanism 5 mainly is made up of cam 505, spring ball 501, sliding block 504, upper left spur gear 502, upper right spur gear 503.Cam 505 is installed in an end of 302 of leveling handles, and spring ball 501 is installed in cam 505 inside, glides to fast 504 contacting with spring ball 501 and upper left spur gear 502 respectively.The cam 505 main transmission that realize power, spring ball 501 mainly is the engagement that guarantees sliding block 504 and upper left spur gear 502.When the seat lifting, upper left spur gear 502 is fixed together with upper right spur gear 503, and rotates; When the seat leveling, upper left spur gear 502 is fixed together with upper right spur gear 503, and static.
When wheelchair was gone upstairs, the wheelchair chassis angle of inclination occurred and is made as θ, seat run-off the straight accordingly.During the manual adjustments chair angle, clockwise rotate leveling handle 302, driving upper left gear 303 rotates, sliding block 504 is separated with upper left spur gear 502 simultaneously, cam 505 rotates with leveling handle 302 with sliding block 504, upper left spur gear 502 is fixed together with upper right spur gear 503, and transfixion.Upper left gear 303 rotates and drives upper right gear 304 and rotates, upper right gear 304 and left middle gear 313 are affixed, so left middle gear 313 also rotates, left side middle gear 313 rotates and drives right middle gear 308 and rotates, right middle gear 308 is around last tie-rod 310 rotations and assurance and 305 engagements of last sector gear, last tie-rod 310 rotates, driving axis 312 rotates, the lower-left gear 306 that makes it on the axle rotates, lower-left gear 306 just drives bottom right gear 307 and rotates, major axis 311 turns over certain angle with bottom right gear 307, also turn an angle with the affixed left crossbar 103 of major axis 311 simultaneously and be made as δ, if under the left crossbar 103 length parameter same cases, there are following (1) formula relation in θ and δ:
At this moment can calculate seat according to wheelchair chassis inclination angle theta and adjust angle δ, thereby can realize the seat leveling according to the δ that above relational expression is calculated.Repeat said process till having climbed stair, its motor process is shown in Fig. 9 (1).Wherein (a) figure represents the stage that wheelchair preparation is just gone upstairs, and (d) schemes the state after the expression wheelchair has been gone up stair fully.
During the motorized adjustment chair angle, at first detected the inclination angle of seat by angular transducer, whether the chassis inclination angle theta of judging seat is greater than absolute value ± 3 °; If greater than absolute value ± 3 °, then adjust seat by described relational expression (1) and adjust angle δ.Be specially, by result's process A/D conversion that angular transducer detects signal is passed to controller, controller sends signal and gives driver module, drive 409 runnings of leveling motor then, driving left spur gear 401 rotates, right spur gear 402 and left spur gear 401 engagements, so right spur gear 402 rotates, right spur gear 402 revolves round the sun with following tie-rod 408 and guarantees and 403 engagements of following sector gear simultaneously, following tie-rod 408 rotates and drives lower shaft 406 rotations, and the lower-left spur gear 404 on the axle also rotates, lower- left spur gear 404 and 405 engagements of bottom right spur gear, making it bottom right spur gear 405 rotates, bottom right spur gear 405 is installed on the major axis 311, makes it major axis 311 and turns an angle, simultaneously with the affixed left crossbar 103 of major axis 311 δ that also turns an angle, satisfy the described corresponding relation of angle δ and chassis inclination angle theta, make seat maintenance level, in the process of going upstairs, repeat said process, to having climbed last step, its motor process is shown in Fig. 9 (1).Wherein, (a) figure expression wheelchair is prepared the initial period of going upstairs, and (b) and (c) figure represents two processes of wheelchair in going upstairs respectively.(d) termination phase of intact stair on the figure expression wheelchair.
When wheelchair is gone downstairs, the angle of inclination on wheelchair chassis is θ, the manual adjustments seat, rotate counterclockwise leveling handle 302, make the sliding block 504 in the retaining mechanism break away from upper left spur gear 502, cam 505 and sliding block 504 rotate with leveling handle 302, leveling handle 302 rotates by upper left gear 303 and drives upper right gear 304 rotations, upper right gear 304 rotates by the right middle gear 308 of left middle gear 313 final drives, right middle gear 308 and last sector gear 305 engagements, and around last tie-rod 310 rotations.Last tie-rod 310 drives axis 312 and rotates, power on the axis 312 is delivered on the bottom right gear 307 by lower-left gear 306, bottom right gear 307 is turned an angle, and major axis 311 and affixed left crossbar 103 on it δ that turns an angle makes seat maintenance level.In the process of going downstairs, constantly repeat said process, till finishing stair down, its motor process is shown in Fig. 9 (2).Wherein (a) figure expression wheelchair is prepared the initial period of going downstairs, (b) and (c) figure represent respectively that wheelchair goes downstairs in two processes.(d) termination phase of intact stair under the figure expression wheelchair.
During the motorized adjustment chair angle, whether the angle of inclination that the angular transducer on the seat is judged seat is greater than absolute value ± 3 °, if regulate greater than just needing, then send signal by controller, make 409 runnings of leveling motor by driver module, motor shaft drives right spur gear 402 by left spur gear 401 and rotates, simultaneously right spur gear 402 and following sector gear 403 engagements, and around tie-rod 408 rotations down, thereby driving lower shaft 406 rotates, power on the lower shaft 406 is delivered to bottom right spur gear 404 by lower-left spur gear 404, major axis 311 is turned an angle with bottom right spur gear 404, at this moment left crossbar 103 drives the seats δ that also thereupon turns an angle, and to offset the chassis inclination angle theta that originally seat occurs, makes seat maintenance level.In the process of going downstairs, repeat said process, till finishing stair down.
When wheelchair moves on the level land, when need grasping the object that is placed on eminence, can adopt user manual and electronic dual mode to regulate.Manual adjustments seat riser (referring to Fig. 3), handle 201 is heightened in rotation, being installed in the left gear of heightening on the handle 201 202 rotates, the right gear 203 that drive is engaged with rotates, right gear 203 is installed on the axle 204, axle 204 rotates, axle 204 rotates and drives 206 rotations of epicone gear, last bevel gear 206 is meshed with left angular wheel 207 and right bevel gear 208 respectively and does backward rotation, corresponding left screw axis 102 and right screw axis 105 also do opposite rotation and drive left slider 101 on the screw axis and right slide block 106 do mutually near or away from motion, cause the right crossbar that joins with slide block 104 and left crossbar 103 do mutually near or away from motion, thereby realize the rise and fall of seat.When left slider 101 and right slide block 106 do mutually near or during away from motion, retaining mechanism with the mechanism that regulates chair angle with right slide block 106 motions.Its motor process sketch map is shown in Figure 10 (1) and 10 (2).State when 10 (1) expression height of seats are not regulated, the state after 10 (2) expression height of seats are regulated,
During the motorized adjustment seat riser, user is pressed rising or the decline key on the wheelchair armrest, controller sends signal and gives driver module, driving is heightened motor 210 and is rotated, bevel gear 206 is rotated in the drive, left angular wheel 207 and right bevel gear 208 are meshed with last bevel gear 206 simultaneously and do backward rotation, left angular wheel 207 and right bevel gear 208 are installed in respectively on left screw axis 102 and the right screw axis 105, making it left screw axis 102 rotates and direction of rotation simultaneously with right screw axis 105, left slider 101 is installed in respectively on left screw axis 102 and the right screw axis 105 with right slide block 106, thereby produce between left slider 101 and the right slide block 106 mutually away from or close motion mutually, one end of right crossbar 104 and left crossbar 103 is connected with right slide block 106 with left slider 101 respectively, so right crossbar 104 also moves along with slide block exists mutually with left crossbar 103, right crossbar 104 just forces seat to carry out lifting with the motion of left crossbar 103.When the user presses lifting key adjusting seat riser, regulate the related retaining mechanism of mechanism of chair angle together with slide block movement.
The control system of governor motion of the present invention (referring to Figure 11) mainly comprises master controller, driver module A, keyboard input module B and sensing detection module C, and wherein driver module A comprises described leveling motor 409 and heightens motor 210.The core of The whole control system is exactly master controller.When the wheelchair stair activity, detected the inclination angle of seat earlier by angular transducer, by A/D converter signal is passed to master controller, send signal by controller again, driver module A receives the accent dip angle signal that master controller sends, drive leveling motor 409 and rotate, realize the function at seat adjustment inclination angle.When wheelchair is in the level land operation, user need grasp the object of eminence, at this moment the user need press the lifting key on the lower keyboard input module, master controller sends the signal of regulating height, driver module A receives the signal that master controller sends, driving is heightened motor 210 and is rotated, and realizes the function of seat adjustment height.Control system is originally as prior art.
Control sequence (referring to Figure 12) concrete steps under the governor motion operational mode of the present invention are as follows:
Step 1: system initialization and execution in step 2;
Step 2: the stair parameter initialization arranges, and execution in step 3;
Whether step 3: it is normal to detect button, if normally then execution in step 4, otherwise execution in step 5;
Step 4: adopt manually still automatically, if adopt manually then execution in step 6, otherwise execution in step 12;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: whether artificial judgment adjusts the inclination angle, if execution in step 7 then, otherwise execution in step 8;
Step 7: hand rotation leveling handle 302 is regulated chair angle, and execution in step 8;
Step 8: judge whether to adjust height, as satisfied then execution in step 9, otherwise execution in step 10;
Step 9: hand rotation is heightened handle 201 and is regulated height of seat, and execution in step 11;
Step 10: judge that seat inclination angle/highly satisfaction is denied, as satisfied execution in step 11; Otherwise execution in step 6;
Step 11: EP (end of program);
Step 12: the sensing detection seat inclination angle whether＞± 3 °, if execution in step 13 then, otherwise execution in step 15;
Step 13: drive leveling motor 409 and adjust inclination angle δ, and execution in step 14;
Step 14: whether judge the inclination angle≤± 3 °, if execution in step 15 then, otherwise execution in step 13;
Step 15: judging whether needs to adjust height, if then execution in step 16, otherwise execution in step l8;
Step 16: button rotates heightens motor 210 adjustment height, and execution in step 17;
Step 17: decision height is satisfied, if satisfied, then execution in step 18, otherwise execution in step 16;
Step 18: EP (end of program).
Software those skilled in the art of governor motion of the present invention require specifically to provide easily according to said procedure block diagram and described mechanism.
In the process of wheelchair stair activity, governor motion of the present invention can make seat maintenance level, and wheelchair is when working on the level land, and seat is free to oscilaltion.The lower end of the described intersection four-bar mechanism of governor motion of the present invention is equipped with slideway, can realize that seat component moves with respect to the wheelchair chassis, thereby can effectively adjust the center of gravity of whole wheelchair, guarantees occupant's safety.
When need are regulated chair angle, can be constant with highly locking, angle can be regulated arbitrarily in 0 ~ ± 45 ° of scope; When needs were regulated height of seat, then the angle of seat can be coordinated to change with the variation of height.
The present invention does not address part and is applicable to prior art.
Claims (4)
1. a wheelchair seat pose governor motion is characterized in that this governor motion comprises intersection four-bar mechanism, seat riser, manual seat levelling gear, automatic seat levelling gear, seat retaining mechanism and control system;
Described intersection four-bar mechanism mainly is made up of right crossbar, left crossbar, left slider, right slide block, left screw axis and right screw axis; The upper end of right crossbar and left crossbar is consolidated in the bottom of left slider and right slide block respectively, and left slider and right slide block are installed in an end of left screw axis and right screw axis respectively; Left side screw axis and right screw axis are installed on the big support;
Seat riser comprises manual adjustments seat riser and motorized adjustment seat riser; The manual adjustments seat riser is mainly formed by heightening handle, left gear, right gear, axle, last bevel gear, left angular wheel and right bevel gear; Left gear and right gear all are spur gears, the two transmitting movement and increasing speed of being meshing with each other; Right gear and last bevel gear all are installed on the axle; Last bevel gear respectively with left angular wheel, right bevel gear engaged transmission, left screw axis and right screw axis drive respectively left slider and right slide block do mutually near or mutually away from motion, realize the rise and fall of seat; The motorized adjustment seat riser is to substitute and to heighten handle, left gear and right gear in the manual adjustments seat riser with heightening motor, concrete structure is that last bevel gear is installed on the axle of heightening motor, left angular wheel is installed in an end of left screw axis, and right bevel gear is installed in an end of right screw axis;
Manually the seat levelling gear mainly is made up of leveling handle, upper left gear, upper right gear, left middle gear, axis, last tie-rod, right middle gear, last sector gear, little axle, lower-left gear, bottom right gear and major axis; Upper left gear and right middle gear all are spur gears, and the two engagement transferring power and realization are slowed down; A left side middle gear, axis, go up tie-rod, right middle gear, little axle and go up sector gear and form epicyclic train, lower-left gear and bottom right gear all are spur gears, transmission between epicyclic train and this two spur gear realizes the transmission of power between Handle axis and the major axis, and by effective gear ratio, realize the angular displacement of deceleration and increase Handle axis;
The automatic seat levelling gear mainly is made up of leveling motor, left spur gear, right spur gear, minor axis, following sector gear, following tie-rod, lower-left spur gear, lower shaft and bottom right spur gear; Left side spur gear and right spur gear are meshing with each other, right spur gear is along with tie-rod rotation down, guarantee simultaneously to be meshed with following sector gear, left spur gear, right spur gear, minor axis, down sector gear and down tie-rod form epicyclic train, transferring power and by effective gear ratio realization deceleration; Lower-left spur gear and bottom right spur gear are meshing with each other, and realize transmission and the deceleration of power;
The seat retaining mechanism mainly is made up of cam, spring ball, sliding block, upper left spur gear and upper right spur gear; Cam is installed in an end of leveling handle axle, and the spring ball is installed in cam inside, glides to contacting with spring ball and upper left spur gear respectively soon.Cam is mainly realized the transmission of power, and the spring ball mainly is the engagement that guarantees sliding block and upper left spur gear, the upper left spur gear transmitting movement that is connected with upper right spur gear;
Described control system mainly comprises master controller, driver module, keyboard input module and sensing detection module, and wherein driver module comprises described leveling motor and heightens motor.
2. wheelchair seat pose governor motion according to claim 1, when it is characterized in that the manual adjustments chair angle, under left crossbar length parameter same case, wheelchair chassis inclination angle theta and seat are adjusted and are had following relation between the angle δ:
3. wheelchair seat pose governor motion according to claim 1 is characterized in that when the motorized adjustment chair angle, is at first detected the inclination angle of seat by angular transducer, judges that the Chair underframe inclination angle theta is whether greater than absolute value ± 3 °; If greater than absolute value ± 3 °, then adjust seat by described relational expression (1) and adjust angle δ.
4. wheelchair seat pose governor motion according to claim 1 is characterized in that the control sequence concrete steps under the governor motion operational mode are as follows:
Step 1: system initialization and execution in step 2;
Step 2: the stair parameter initialization arranges, and execution in step 3;
Whether step 3: it is normal to detect button, if normally then execution in step 4, otherwise execution in step 5;
Step 4: adopt manually still automatically, if adopt manually then execution in step 6, otherwise execution in step 12;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: whether artificial judgment adjusts the inclination angle, if execution in step 7 then, otherwise execution in step 8;
Step 7: hand rotation leveling handle 302 is regulated chair angle, and execution in step 8;
Step 8: judge whether to adjust height, as satisfied then execution in step 9, otherwise execution in step 10;
Step 9: hand rotation is heightened handle 201 and is regulated height of seat, and execution in step 11;
Step 10: judge that seat inclination angle/highly satisfaction is denied, as satisfied execution in step 11; Otherwise execution in step 6;
Step 11: EP (end of program);
Step 12: whether the sensing detection seat inclination angle〉± 3 °, if execution in step 13 then, otherwise execution in step 15;
Step 13: drive leveling motor 409 and adjust inclination angle δ, and execution in step 14;
Step 14: whether judge the inclination angle≤± 3 °, if execution in step 15 then, otherwise execution in step 13;
Step 15: judging whether needs to adjust height, if then execution in step 16, otherwise execution in step 18;
Step 16: button rotates heightens motor 210 adjustment height, and execution in step 17;
Step 17: decision height is satisfied, if satisfied, then execution in step 18, otherwise execution in step 16;
Step 18: EP (end of program).
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| CN201310165220.5A CN103230319B (en) | 2013-05-08 | 2013-05-08 | A kind of wheelchair seat pose governor motion |
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| CN201310165220.5A CN103230319B (en) | 2013-05-08 | 2013-05-08 | A kind of wheelchair seat pose governor motion |
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| CN103230319B CN103230319B (en) | 2015-12-02 |
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