CN103230319B - A kind of wheelchair seat pose governor motion - Google Patents
A kind of wheelchair seat pose governor motion Download PDFInfo
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Abstract
The present invention discloses a kind of wheelchair seat pose governor motion, it 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 forms primarily of right crossbar, left crossbar, left slider, right slide block, left screw axis and right screw axis; Seat riser comprises manually and motorized adjustment seat riser; Manual seat levelling gear forms primarily of leveling handle, upper left gear, upper right gear, left gear, axis, upper tie-rod, right gear, upper sector gear, little axle, lower-left gear, bottom right gear and major axis; Automatic seat levelling gear forms primarily of leveling motor, left spur gear, right spur gear, minor axis, lower sector gear, lower tie-rod, lower-left spur gear, lower shaft and bottom right spur gear; Seat retaining mechanism forms primarily of cam, spring ball, sliding block, upper left spur gear and upper right spur gear.
Description
Technical field
The present invention relates to wheelchair technology, be specially a kind of wheelchair seat pose governor motion.This governor motion is applicable on the wheelchair of climbing stairs.
Background technology
Wheelchair is generally only adapted at walking in level land.Stair, obstacle and gully etc. limit the scope of application of electric wheelchair, so begin one's study can the electric wheelchair of stair climbing and 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 electric wheel chair for climbing stairs should regulate.In " a kind of stair climbing wheelchair of wheel group structure " (see " modern mechanical " the 6th phase P233-P235 in 2010) of superfine people Lee design, disclose a kind of wheelchair seat governor motion, its main technical content is the seat regulator devising a kind of raceway slide rail type, primarily of arc-shaped rail and roller bearing composition, slide rail is welded on sole, roller bearing is threaded connection and is fixed on the support of seat bottom, its axle head is provided with bearing and can rolls in slide rail, utilizes center of gravity automatically to regulate position and posture.The weak point of this structure is that the braking of roller bearing needs special mechanism to be limited, and adds structural complexity, and when this mechanism is only to realize wheelchair stair-climbing ladder, the horizontal adjustment of seat, but can not realize the vertical lifting of seat during level land.At deer peak, China waits in " research and analysis of stair climbing wheelchair " literary composition of delivering of people, have employed a kind of double-track seat regulator, and this structure adopts four activity small wheels to roll in four fixing chutes and realizes the adjustment of seat position.Mechanism can ensure to fluctuate in adjustment process little as far as possible, but it must have corresponding locking device to coordinate just to complete, and mechanism is complicated.In the patent " a kind of automatic level regulating seat of wheelchair " (see patent CN202223455U) of people's applications such as Xiong Kun, have employed seat horizontal angle adjusting mechanism, seat horizontal angle adjusting mechanism comprises the guide rail be fixed on below seat main body two side handrail, to be stuck in guide rail and the slide block that can slide within the specific limits, and to be fixed on support and the sheave of circumferential band groove structure, middle part and the support of slide block are hinged, sheave is concentric with dumpling axle, locking spring and locking teeth are equipped with in slide block inside, slide block lower end is exposed at outside locking teeth bottom, and be automatically stuck in the groove of sheave circumference, the effect of locking and buffering is played in the process of horizontal adjustment chair angle, this mechanism has the function that automatically can adjust chair angle, but the variable angle between the backrest of this mechanism and seat is less than 10 °, the stair larger for some inclination angles or gully, be difficult to meet the demands.The patent " the wheelchair level governor motion based on center of gravity wheel " (see patent CNl02488596A) of people's applications such as Liu Xueming, be made up of center of gravity wheel, two push rods of cranking arm, two connecting lines and back shafts, center of gravity wheel and back shaft interconnection, center of gravity wheel is connected with two push rods of cranking arm by connecting line.This structure utilizes center of gravity to take turns regulatory mechanism and remains center of gravity expansion force vertically downward when going downstairs on wheelchair, adjust its level by the mobile push rod of cranking arm that elongates of head to make seat front or raising of rear portion.This mechanism adopts simple mechanical part to realize adjustment automatically, do not rely on and utilize the driving of any additionaling power, but when stair activity seat adjustment, the fluctuation center of gravity of seat is larger, when level land, can not realize the lifting of seat.These problems limit its promoting the use of in daily life.
The iBOT type electric wheelchair of the U.S., it is furnished with the gyroscope of perception people-wheelchair position of centre of gravity and complicated computer system, can adjust position of centre of gravity at any time to ensure the balance of wheelchair, but center of gravity fluctuation is equally comparatively large, needs user just can stair activity by means of balustrade.IBOT seat regulator is more complicated, expensive, and a lot of people can hang back, and is unfavorable for popularizing.The wheelchair of the TopChair model of France, its seat regulator mainly connects a hydraulic stem by seat bottom, and stretching by hydraulic stem, keeps the level of seat.The seat regulator of this model wheelchair has used hydraulic cylinder to combine with mechanism kinematic, bring certain difficulty, and cost is very high to the processing and manufacturing of wheelchair and assembling.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, provides a kind of wheelchair seat pose governor motion, 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 steady, important guarantee is provided to the safety of user, and there is motion flexibly, can realize manually regulating with electronic pair, safety is high, 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 is primarily 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 composition.
Described intersection four-bar mechanism forms primarily 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 arranged on one end of left screw axis and right screw axis respectively; Left screw axis and right screw axis are arranged on large support;
Seat riser comprises manual adjustments seat riser and motorized adjustment seat riser; Manual adjustments seat riser is primarily of heightening handle, left gear, right gear, axle, upper bevel gear, left angular wheel and right bevel gear composition; Left gear and right gear are all spur gears, and the two engages each other transmitting movement and increases speed; Right gear and upper bevel gear are all arranged on axle; Upper 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 close to each other or mutually away from motion, realize the rise and fall of seat; Motorized adjustment seat riser substitutes and heighten handle, left gear and right gear with heightening motor in manual adjustments seat riser; concrete structure upper bevel gear is arranged on heighten on the axle of motor; left angular wheel is arranged on one end of left screw axis, and right bevel gear is arranged on one end of right screw axis;
Manual seat levelling gear forms primarily of leveling handle, upper left gear, upper right gear, left gear, axis, upper tie-rod, right gear, upper sector gear, little axle, lower-left gear, bottom right gear and major axis; Upper left gear and right gear are all spur gears, and the two engagement is transmitted power and realized slowing down; Left gear, axis, upper tie-rod, right gear, little axle and upper sector gear composition epicyclic train; lower-left gear and bottom right gear are all spur gears; transmission between epicyclic train and this two spur gear realizes the power transmission between Handle axis and major axis; and by effective gear ratio, realize the angular displacement slowing down and increase Handle axis;
Automatic seat levelling gear forms primarily of leveling motor, left spur gear, right spur gear, minor axis, lower sector gear, lower tie-rod, lower-left spur gear, lower shaft and bottom right spur gear; Left spur gear and right spur gear engage each other; right spur gear rotates along with lower tie-rod; ensure to be meshed with lower sector gear, left spur gear, right spur gear, minor axis, lower sector gear and lower tie-rod composition epicyclic train, transmits power and realizes slowing down by effective gear ratio simultaneously; Lower-left spur gear and bottom right spur gear engage each other, and realize transmission and the deceleration of power;
Seat retaining mechanism forms primarily of cam, spring ball, sliding block, upper left spur gear and upper right spur gear; Cam is arranged on one end of leveling handle axle, and spring ball is arranged on cam inside, glides and contacts with spring ball and upper left spur gear respectively soon.Cam mainly realizes the transmission of power, and spring ball mainly ensures engaging of sliding block and upper left spur gear, and upper left spur gear is connected with upper right spur gear transmitting movement;
Described control system mainly comprises master controller, driver module, input through keyboard 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 height adjustable; Manually or motorized adjustment the height of wheelchair seat can be made to rise or decline, thus person easy to use; Lifting locking mechanism is simple, dependable performance;
2. structure is simple, and motion flexibly; Seat pose can be realized manually regulate with electronic two kinds of modes, and easy switching, user can according to oneself need regulate whenever and wherever possible;
3. to be suitable for safety good for wheelchair seat; Adjusting angle is 0 ° ~ ± 45 °, and scope is large, and reliability is high, stability and safety is good; When can be satisfied with the larger stair of gradient or obstacle detouring, seat pose regulates requirement; In upstairs or downstairs process, all can ensure the horizontal attitude of wheelchair seat, and it is little to fluctuate up and down, serves certain guaranteeing role to the safety of user, comfortableness is better simultaneously.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 2 is the intersection four-bar mechanism schematic diagram of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
Fig. 3 is the seat riser schematic diagram 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 measures intention;
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 measures intention;
Fig. 8 is the automatic seat levelling gear planar structure schematic diagram of a kind of embodiment of wheelchair seat pose governor motion of the present invention;
When Fig. 9 is the stair activity of a kind of embodiment of wheelchair seat pose governor motion of the present invention, seat pose regulates schematic diagram; Wherein,
When Fig. 9 (1) is for going upstairs, seat pose regulates schematic diagram; Comprise (a) wheelchair on level land time seat pose schematic diagram; (b) go upstairs seat pose in process regulate after schematic diagram; Schematic diagram after seat pose when () has soon gone up stair c regulates; Seat pose schematic diagram on (d) wheelchair during complete stair;
When Fig. 9 (2) is for going downstairs, seat pose regulates schematic diagram; Comprise the schematic diagram after the seat pose adjustment of (a) wheelchair when soon going downstairs; (b) go downstairs seat pose in process regulate after schematic diagram; Schematic diagram c () has soon descended seat pose during stair to regulate after; (d) wheelchair go downstairs completely after seat pose schematic diagram;
Figure 10 is the altitude mixture control schematic diagram of the seat of a kind of embodiment of wheelchair seat pose governor motion of the present invention; Wherein,
The low pose that Figure 10 (1) is seat regulates schematic diagram;
The high pose that Figure 10 (2) is seat regulates schematic diagram;
Figure 11 is the Control system architecture block diagram 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.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing thereof, the invention will be further described:
The wheelchair seat pose governor motion of the present invention's design (is called for short governor motion or mechanism, see 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 arranged on one end of left screw axis 102 and right screw axis 105 respectively; Left screw axis 102 and right screw axis 105 are arranged on large support 211.
Seat riser 2 comprises manual seat elevating mechanism and lifting mechanism of electric chair.Manual seat elevating mechanism forms primarily of heightening handle 201, left gear 202, right gear 203, axle 204, upper bevel gear 206, left angular wheel 207 and right bevel gear 208.Left gear 202 is arranged on the one end heightening handle 201, and right gear 203 and upper bevel gear 206 are all arranged on axle 204.Left angular wheel 207 and right bevel gear 208 are arranged on one end of left screw axis 102 and right screw axis 105 respectively.Left gear 202 and right gear 203 are all spur gears, and the two has engaged each other two effects: transmitting movement with increase speed.Upper bevel gear 206 engages with left angular wheel 207, right bevel gear 208 respectively, mainly realize axle 204 and the transmission between left screw axis 102 and right screw axis 105, also to ensure that left screw axis 102 is contrary with the rotation direction of right screw axis 105 simultaneously, left screw axis 102 and right screw axis 105 drive respectively left slider 101 and right slide block 106 do close to each other or mutually away from motion, thus the rise and fall of the seat realized.
The difference of lifting mechanism of electric chair and manual seat elevating mechanism is: automatic seat lifting structure substitutes and heighten handle 201, left gear 202 and right gear 203 with heightening motor 210 in manual seat lifting structure.Concrete structure be upper bevel gear 206 be arranged on heighten motor 210 axle on, left angular wheel 207 is arranged on one end of left screw axis 102, and right bevel gear 208 is arranged on one end of right screw axis 105.
Seat levelling gear comprises manual seat levelling gear 3 and automatic seat levelling gear 4.Manual seat levelling gear 3 forms primarily of leveling handle 302, upper left gear 303, upper right gear 304, left gear 313, axis 312, upper tie-rod 310, right gear 308, upper sector gear 305, little axle 309, lower-left gear 306, bottom right gear 307, major axis 311; Upper left gear 303 is arranged on one end of leveling handle 302, and upper right gear 304 and left gear 313 are fixed together by screw and the two is all arranged on axle 312.Right gear 308 is arranged on little axle 309.Right gear 308 is meshed with left gear 313 and upper sector gear 305 respectively.Together with little axle 309 is solid with tie-rod 310, tie-rod 310 is linked together by screw and axis 312.Lower-left gear 306 and bottom right gear 307 are arranged on axis 312 with on major axis 311 with key respectively.Left gear 313, axis 312, upper tie-rod 310, right gear 308, little axle 309, upper sector gear 305 constitute epicyclic train jointly.Upper left gear 303 and right gear 308 are all spur gears, and the two engagement can transmit power, can also realize slowing down.Lower-left gear 306, bottom right gear 307 are all spur gears, transmission object between epicyclic train and two spur gears realizes the power transmission between Handle axis 302 and major axis 311, and realize certain deceleration by effective gear ratio and increase the angular displacement of Handle axis.
Automatic seat levelling gear 4 forms primarily of leveling motor 409, left spur gear 401, right spur gear 402, minor axis 407, lower sector gear 403, lower tie-rod 408, lower-left spur gear 404, lower shaft 406, bottom right spur gear 405; Left spur gear 401 is arranged on one end of the axle of leveling motor 409, and right spur gear 402 is arranged on minor axis 407, and right spur gear 402 is meshed with left spur gear 401 and lower sector gear 403 respectively.Lower tie-rod 408 and minor axis 407 Joint, lower tie-rod 408 is arranged on lower shaft 406 by screw, and lower-left spur gear 404 and bottom right spur gear 405 are arranged on lower shaft 406 and major axis 311 respectively.Left spur gear 401 engages each other with right spur gear 402, right spur gear 402 rotates along with lower tie-rod 408, ensure to be meshed with lower sector gear 403 simultaneously, left spur gear 401, right spur gear 402, minor axis 407, lower sector gear 403, lower tie-rod 408 constitute epicyclic train jointly, and main purpose transmits power and realizes larger deceleration by effective gear ratio.Lower-left spur gear 404 and bottom right spur gear 405 engage each other, and realize transmission and the deceleration of power.
Described seat retaining mechanism 5 forms primarily of cam 505, spring ball 501, sliding block 504, upper left spur gear 502, upper right spur gear 503.Cam 505 is arranged on one end of leveling handle 302 axle, and it is inner that spring ball 501 is arranged on cam 505, glides to fast 504 contacting with spring ball 501 and upper left spur gear 502 respectively.Cam 505 mainly realizes the transmission of power, and spring ball 501 mainly ensures engaging of sliding block 504 and upper left spur gear 502.When seat is elevated, upper left spur gear 502 and upper right spur gear 503 are fixed together, and rotate; When seat leveling, upper left spur gear 502 and upper right spur gear 503 are fixed together, and static.
When wheelchair is gone upstairs, wheelchair chassis occurs that angle of inclination is set to θ, and seat will run-off the straight accordingly.During manual adjustments chair angle, rotate clockwise leveling handle 302, upper left gear 303 is driven to rotate, sliding block 504 and upper left spur gear 502 are separated simultaneously, cam 505 rotates with leveling handle 302 together with sliding block 504, upper left spur gear 502 and upper right spur gear 503 are fixed together, and transfixion.Upper left gear 303 rotates and drives upper right gear 304 to rotate, upper right gear 304 is affixed with left gear 313, so left gear 313 also rotates, left gear 313 rotates and drives right gear 308 to rotate, right gear 308 rotates around upper tie-rod 310 and ensures to engage with upper sector gear 305, upper tie-rod 310 rotates, axis 312 is driven to rotate, the lower-left gear 306 made it on axle rotates, lower-left gear 306 just drives bottom right gear 307 to rotate, major axis 311 turns over certain angle with bottom right gear 307, the left crossbar 103 affixed with major axis 311 also turns an angle and is set to δ simultaneously, if under left crossbar 103 length parameter same case, there is following (1) formula relation in θ and δ:
At this moment can calculate seat adjustment angle δ according to wheelchair chassis inclination angle theta, thus the δ that can calculate according to above relational expression realizes seat leveling.Repeat said process till having climbed stair, its motor process is as shown in Fig. 9 (1).Wherein (a) figure represents that wheelchair has just prepared the stage of going upstairs, (d) figure represent wheelchair gone up stair completely after state.
During motorized adjustment chair angle, first detected the inclination angle of seat by angular transducer, judge whether the chassis inclination angle theta of seat is greater than absolute value ± 3 °; If be greater than absolute value ± 3 °, then by described relational expression (1) adjustment seat adjustment angle δ.Be specially, the result detected by angular transducer passes to controller through A/D conversion signal, controller sends signal to driver module, then leveling motor 409 is driven to operate, left spur gear 401 is driven to rotate, right spur gear 402 engages with left spur gear 401, so right spur gear 402 rotates, right spur gear 402 revolves round the sun with lower tie-rod 408 and ensures to engage with lower sector gear 403 simultaneously, lower tie-rod 408 rotates and drives lower shaft 406 to rotate, lower-left spur gear 404 on axle also rotates, lower-left spur gear 404 engages with bottom right spur gear 405, make it bottom right spur gear 405 to rotate, bottom right spur gear 405 is arranged on major axis 311, make it major axis 311 to turn an angle, simultaneously the left crossbar 103 affixed with major axis 311 also turns an angle δ, meet 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 as shown in Fig. 9 (1).Wherein, (a) figure represents that wheelchair prepares the initial period of going upstairs, (b) and (c) figure represent respectively wheelchair go upstairs in two processes.D () figure represents the termination phase of complete stair on wheelchair.
When wheelchair is gone downstairs, the angle of inclination on wheelchair chassis is θ, manual adjustments seat, rotate counterclockwise leveling handle 302, sliding block 504 in retaining mechanism is departed from upper left spur gear 502, cam 505 rotates with leveling handle 302 with sliding block 504, leveling handle 302 rotates through upper left gear 303 and drives upper right gear 304 to rotate, upper right gear 304 finally drives right gear 308 to rotate by left gear 313, right gear 308 engages with upper sector gear 305, and rotates around upper tie-rod 310.Upper tie-rod 310 drives axis 312 to rotate, power on axis 312 is delivered on 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 turn an angle δ, make seat maintenance level.In the process of going downstairs, constantly repeat said process, till lower complete stair, its motor process is as shown in Fig. 9 (2).Wherein (a) figure represents that wheelchair prepares the initial period of going downstairs, (b) and (c) figure represent respectively wheelchair go downstairs in two processes.The termination phase of (d) figure complete stair under representing wheelchair.
During motorized adjustment chair angle, angular transducer on seat judges whether the angle of inclination of seat is greater than absolute value ± 3 °, just need if be greater than to regulate, then send signal by controller, by driver module, leveling motor 409 is operated, motor shaft drives right spur gear 402 to rotate by left spur gear 401, right spur gear 402 engages with lower sector gear 403 simultaneously, and rotate around lower tie-rod 408, thus drive lower shaft 406 to rotate, power on 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 seat also to turn an angle δ thereupon, to offset the chassis inclination angle theta that originally seat occurs, make seat maintenance level.In the process of going downstairs, repeat said process, until lower complete stair.
When wheelchair runs on level land, can adopt when user needs crawl to put pinnacled object and manually regulate with electronic two kinds of modes.Manual adjustments seat riser (see Fig. 3), handle 201 is heightened in rotation, be arranged on the left gear 202 heightened on handle 201 to rotate, the right gear 203 be engaged with is driven to rotate, right gear 203 is arranged on axle 204, axle 204 rotates, axle 204 rotates and drives epicone gear 206 to rotate, upper bevel gear 206 is meshed with left angular wheel 207 and right bevel gear 208 and rotates backward respectively, corresponding left screw axis 102 and right screw axis 105 also do contrary rotation and drive the left slider 101 on screw axis and right slide block 106 do close to each other or away from motion, the right crossbar 104 and the left crossbar 103 that cause connecting with slide block do close to each other or away from motion, thus realize the rise and fall of seat.When left slider 101 and right slide block 106 do close to each other or away from motion time, retaining mechanism moves with right slide block 106 together with the mechanism of adjusting seat angle.Its motor process schematic diagram is as shown in Figure 10 (1) and 10 (2).State when 10 (1) expression height of seats do not regulate, 10 (2) represent the state after height of seats adjustment,
During motorized adjustment seat riser, user presses rising on wheelchair armrest or decline key, controller sends signal to driver module, driving is heightened motor 210 and is rotated, in drive, bevel gear 206 is rotated, left angular wheel 207 and right bevel gear 208 are meshed with upper bevel gear 206 and rotate backward simultaneously, left angular wheel 207 and right bevel gear 208 are arranged on left screw axis 102 and right screw axis 105 respectively, make it left screw axis 102 to rotate with right screw axis 105 and rotation direction is contrary simultaneously, left slider 101 and right slide block 106 are arranged on left screw axis 102 and right screw axis 105 respectively, thus produce between left slider 101 and right slide block 106 mutually away from or motion close to each other, right crossbar 104 is connected with right slide block 106 with left slider 101 respectively with one end of left crossbar 103, so right crossbar 104 also moves along with slide block exists mutually with left crossbar 103, right crossbar 104 just forces seat to be elevated with the motion of left crossbar 103.When user presses lifting key adjusting seat elevating mechanism, the related retaining mechanism of mechanism of adjusting seat angle is together with slide block movement.
The control system (see Figure 11) of governor motion of the present invention mainly comprises master controller, driver module A, input through keyboard module B and sensing detection module C, and wherein driver module A comprises described leveling motor 409 and heightens motor 210.The core of whole control system is exactly master controller.When wheelchair stair activity, the inclination angle of seat is first detected by angular transducer, by A/D converter, signal is passed to master controller, signal is sent again by controller, driver module A receives the tune dip angle signal that master controller sends, drive leveling motor 409 to rotate, realize the function at seat adjustment inclination angle.When wheelchair is in level land operation, user needs the object capturing eminence, at this moment user needs the lifting key pressed in input through keyboard module, master controller sends the signal 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 (see Figure 12) concrete steps under governor motion operational mode of the present invention are as follows:
Step 1: system initialization also performs step 2;
Step 2: stair parameter initialization is arranged, and performs step 3;
Step 3: whether normally detect button, if normal, performs step 4, otherwise performs step 5;
Step 4: adopt manually or automatically, according to manually then performing step 6, otherwise perform step 12;
Step 5: system halt is also reported to the police, and carries out failture evacuation;
Step 6: whether artificial judgment adjusts inclination angle, if it is performs step 7, otherwise performs step 8;
Step 7: hand rotation leveling handle 302 adjusting seat angle, and perform step 8;
Step 8: judge whether adjustment height, then performs step 9 as satisfied, otherwise performs step 10;
Step 9: hand rotation heightens handle 201 adjusting seat height, and performs step 11;
Step 10: judge that seat inclination angle/high satisfactory is no, performs step 11 as satisfied; Otherwise perform step 6;
Step 11: EP (end of program);
Step 12: sensing detection seat inclination angle whether > ± 3 °, if it is perform step 13, otherwise perform step 15;
Step 13: drive leveling motor 409 to adjust inclination angle δ, and perform step 14;
Step 14: whether judge inclination angle≤± 3 °, if it is perform step 15, otherwise perform step 13;
Step 15: judge whether to need adjustment height, if so, then perform step 16, otherwise perform step l8;
Step 16: button rotates heightens motor 210 adjustment height, and performs step 17;
Step 17: decision height is satisfied with no, if satisfied, then performs step 18, otherwise performs step 16;
Step 18: EP (end of program).
Software those skilled in the art of governor motion of the present invention easily specifically provide according to said procedure block diagram and described institution requests.
In the process of wheelchair stair activity, governor motion of the present invention can make seat maintenance level, and wheelchair is when level land works, and seat is free to oscilaltion.Intersecting the lower end of four-bar mechanism described in governor motion of the present invention is provided with slideway, can realize seat component and move relative to wheelchair chassis, thus effectively can adjust the center of gravity of whole wheelchair, ensure the safety of occupant.
When needing adjusting seat angle, can be constant by highly locking, angle can regulate arbitrarily within the scope of 0 ~ ± 45 °; When needs adjusting seat height, then the angle of seat can coordinate change with the change 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 forms primarily 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 arranged on one end of left screw axis and right screw axis respectively; Left screw axis and right screw axis are arranged on large support;
Seat riser comprises manual adjustments seat riser and motorized adjustment seat riser; Manual adjustments seat riser is primarily of heightening handle, left gear, right gear, axle, upper bevel gear, left angular wheel and right bevel gear composition; Left gear and right gear are all spur gears, and the two engages each other transmitting movement and increases speed; Right gear and upper bevel gear are all arranged on axle; Upper 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 close to each other or mutually away from motion, realize the rise and fall of seat; Motorized adjustment seat riser substitutes and heighten handle, left gear and right gear with heightening motor in manual adjustments seat riser, concrete structure upper bevel gear is arranged on heighten on the axle of motor, left angular wheel is arranged on one end of left screw axis, and right bevel gear is arranged on one end of right screw axis;
Manual seat levelling gear forms primarily of leveling handle, upper left gear, upper right gear, left gear, axis, upper tie-rod, right gear, upper sector gear, little axle, lower-left gear, bottom right gear and major axis; Upper left gear and right gear are all spur gears, and the two engagement is transmitted power and realized slowing down; Left gear, axis, upper tie-rod, right gear, little axle and upper sector gear composition epicyclic train, lower-left gear and bottom right gear are all spur gears, transmission between epicyclic train and lower-left and bottom right two spur gear realizes the power transmission between Handle axis and major axis, and by effective gear ratio, realize the angular displacement slowing down and increase Handle axis;
Automatic seat levelling gear forms primarily of leveling motor, left spur gear, right spur gear, minor axis, lower sector gear, lower tie-rod, lower-left spur gear, lower shaft and bottom right spur gear; Left spur gear and right spur gear engage each other, right spur gear rotates along with lower tie-rod, ensure to be meshed with lower sector gear, left spur gear, right spur gear, minor axis, lower sector gear and lower tie-rod composition epicyclic train, transmits power and realizes slowing down by effective gear ratio simultaneously; Lower-left spur gear and bottom right spur gear engage each other, and realize transmission and the deceleration of power;
Seat retaining mechanism forms primarily of cam, spring ball, sliding block, upper left spur gear and upper right spur gear; Cam is arranged on one end of leveling handle axle, spring ball is arranged on cam inside, glide and contact with spring ball and upper left spur gear respectively soon, cam mainly realizes the transmission of power, spring ball mainly ensures engaging of sliding block and upper left spur gear, and upper left spur gear is connected with upper right spur gear transmitting movement;
Described control system mainly comprises master controller, driver module, input through keyboard 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 manual adjustments chair angle, under left crossbar length parameter same case, wheelchair chassis inclination angle theta and seat adjust between angle δ exists following relational expression (1):
3. wheelchair seat pose governor motion according to claim 2, is characterized in that when motorized adjustment chair angle, is first detected the inclination angle of seat by angular transducer, judges whether Chair underframe inclination angle theta is greater than absolute value ± 3 °; If be greater than absolute value ± 3 °, then by described relational expression (1) adjustment seat adjustment angle δ.
4. wheelchair seat pose governor motion according to claim 1, is characterized in that the control sequence concrete steps under governor motion operational mode are as follows:
Step 1: system initialization also performs step 2;
Step 2: stair parameter initialization is arranged, and performs step 3;
Step 3: whether normally detect button, if normal, performs step 4, otherwise performs step 5;
Step 4: adopt manually or automatically, according to manually then performing step 6, otherwise perform step 12;
Step 5: system halt is also reported to the police, and carries out failture evacuation;
Step 6: whether artificial judgment adjusts inclination angle, if it is performs step 7, otherwise performs step 8;
Step 7: hand rotation leveling handle 302 adjusting seat angle, and perform step 8;
Step 8: judge whether adjustment height, then performs step 9 as satisfied, otherwise performs step 10;
Step 9: hand rotation heightens handle 201 adjusting seat height, and performs step 11;
Step 10: judge that seat inclination angle/high satisfactory is no, performs step 11 as satisfied; Otherwise perform step 6;
Step 11: EP (end of program);
Step 12: sensing detection seat inclination angle whether > ± 3 °, if it is perform step 13, otherwise perform step 15;
Step 13: drive leveling motor 409 to adjust inclination angle δ, and perform step 14;
Step 14: whether judge inclination angle≤± 3 °, if it is perform step 15, otherwise perform step 13;
Step 15: judge whether to need adjustment height, if so, then perform step 16, otherwise perform step 18;
Step 16: button rotates heightens motor 210 adjustment height, and performs step 17;
Step 17: decision height is satisfied with no, if satisfied, then performs step 18, otherwise performs 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 true CN103230319B (en) | 2015-12-02 |
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| JPS5214502B2 (en) * | 1973-07-27 | 1977-04-22 | ||
| SE530021C2 (en) * | 2006-06-16 | 2008-02-12 | Gearwheel Ab | Transmission driver at a hub of a wheel with quick-lock function and method for changing the gear between a driving device and a wheel of a vehicle |
| CN101066234B (en) * | 2007-01-24 | 2010-06-09 | 兰州理工大学 | Liftable and movable wheelchair |
| CN101315124B (en) * | 2007-05-30 | 2012-10-03 | 光阳工业股份有限公司 | Electric wheelchair transmission device |
| CN203263673U (en) * | 2013-05-08 | 2013-11-06 | 河北工业大学 | Posture adjusting mechanism for wheelchair seat |
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