CN103892969A - Four-wheel individual driving mechanism for electric wheelchair - Google Patents
Four-wheel individual driving mechanism for electric wheelchair Download PDFInfo
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- CN103892969A CN103892969A CN201410122446.1A CN201410122446A CN103892969A CN 103892969 A CN103892969 A CN 103892969A CN 201410122446 A CN201410122446 A CN 201410122446A CN 103892969 A CN103892969 A CN 103892969A
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Abstract
The invention relates to an electric wheelchair for people difficult to move, in particular to a four-wheel individual driving mechanism for the electric wheelchair. The four-wheel individual driving mechanism comprises a frame, four wheels below the frame and a storage battery mounted on the frame and is characterized by further comprising a master controller, and a CAN (controller area network) bus interface circuit, a driving control signal preprocessing circuit, a power driving circuit, a voltage and current detection circuit and a PIC (peripheral interface controller) namely single-chip microcomputer are arranged in the master controller. The four wheels are mounted on output shafts of four motors respectively, the four motors are connected with the master controller, angle sensors and voltage regulators are mounted on the frame at the wheels, and the voltage regulator is connected with the single-chip microcomputer in the master controller. The four-wheel individual driving mechanism for the electric wheelchair has the advantages of simple structure, convenience in carrying, light weight, high gradeability, stability in running, high signal acquisition precision and the like.
Description
Technical field
The present invention relates to the electric wheel-chair vehicle that a kind of handicapped people uses, be specifically related to a kind of electric wheel-chair vehicle four-wheel independent driving mechanism.
Background technology
Along with expanding economy, private car is more and more, and vehicle accident occurs also day by day frequent, and natural disaster also happened occasionally in recent years, and local conflicts increasingly sharpens, and the disabled's quantity sharply increases; Along with social progress, quality of the life improves constantly in addition, and people's average life is more and more longer.Because above-mentioned reason is used electric wheel-chair vehicle as the disabled of walking-replacing tool and old people more and more, the comfort level of the security performance to electric wheel-chair vehicle, comfortableness, use requires more and more higher simultaneously.And existing electric wheel-chair vehicle adopts trailing wheel Dual Drive more, if publication number is the patent " electric wheelchair " of CN 102755230 A, it adopts trailing wheel Dual Drive form to walk, and a pair of front universal wheel 311 and a pair of rear universal wheel 44 are all driven pulleys, therefore trailing wheel two drives the poor performance such as electric wheelchair climbing, can not adapt to complex road condition, work as surface evenness, when tire parameter there are differences, can affect the rotating speed of front-wheel and trailing wheel, cause four vehicle wheel rotational speeds inconsistent, must cause electric wheelchair to turn to one side in the process of moving if do not add interference, if four vehicle wheel rotational speed deviations are larger, more can cause that Vehicle Driving Cycle is unstable, even rollover, cause security incident.And the patent that notification number is CN101816602B " multifunctional four-wheel driving type electric wheelchair ", the drive systems such as traditional clutch, variator and power transmission shaft are occupied very large ratio in car load, complex structure, and complete vehicle weight is large, and carrying is heavy.
Summary of the invention
The problems such as, front and back wheel rotating speed inconsistent, Vehicle Driving Cycle unstable, complex structure and carrying heaviness poor for electric wheel-chair vehicle climbing capacity in prior art, have invented that a kind of climbing capacity is strong, driving stability, the simple in structure and light-weighted electric wheel-chair vehicle four-wheel of car load independent driving mechanism.
Above-mentioned invention order is achieved through the following technical solutions:
A kind of electric wheel-chair vehicle four-wheel independent driving mechanism, comprise vehicle frame, be positioned at vehicle frame top seat underframe, be positioned at vehicle frame below four wheels, be loaded on the accumulator on vehicle frame, its main points are, it establishes CAN bus interface circuit, drive control signal pre-process circuit, power driving circuit, voltage and current detection circuit, PIC in also comprising be the master controller of single-chip microcomputer; Four described wheels are contained on the output shaft of a motor separately, and four described motors are connected with master controller, and master controller is directly controlled the rotating speed of four motors, four each self-driven wheels of motor; The angular transducer that detects wheel steering and the voltage regulator that carries out signal processing and amplifying are also installed on the vehicle frame at wheel place, and angular transducer is connected with voltage regulator, and voltage regulator is connected with the single-chip microcomputer in master controller.
As preferably, the each circuit of described master controller, motor connect as follows: single-chip microcomputer is connected with CAN bus interface circuit, voltage and current detection circuit, drive control signal pre-process circuit; Power driving circuit is connected with drive control signal pre-process circuit, voltage and current detection circuit, motor respectively; Motor is connected with angular transducer.
As preferably, vehicle frame is provided with forward and backward two cantilevers, and each motor is contained on cantilever by electric machine mounting device separately.
As preferably, described motor is efficient rare-earth permanent magnet brush motor.
As preferably, described electric machine mounting device is made up of motor connecting base, bearing, spacer, circle plug, and motor connecting base is fixed on cantilever by circle plug through bearing, spacer successively.
Beneficial effect of the present invention it compared with prior art tool have the following advantages: it is directly driven four wheel correspondences respectively by four motors, electric wheel-chair vehicle acceleration and deceleration, the functions such as brake are controlled by master controller, the rotating speed of wheel carries out the transmission between data and master controller by the operation rocking bar on electric wheel-chair vehicle by CAN bus interface circuit simultaneously, master controller carries out the judgement of tach signal, process and flow to each motor by power driving circuit through drive control signal pre-process circuit, thereby carry out the adjusting of each motor speed speed, finally realize the adjusting of each vehicle wheel rotational speed speed.Therefore the driving machinery-free transmission link of each wheel, omits the drive systems such as traditional clutch, variator and power transmission shaft, makes structure be tending towards simple, thereby significantly reduce complete vehicle weight, make electric wheel-chair vehicle realize light-weighted object, this is energy efficient not only, and carries easy to carry.In addition, four wheels independently complete driving by four motors, the rotation of four motors of main controller controls, not only realize the adjusting of vehicle wheel rotational speed speed, and realized the functions such as the slow startup of electric wheel-chair vehicle, turning deceleration, brake and climbing, and travel more steady, take advantage of seat more comfortable.
Brief description of the drawings
Fig. 1 is vehicle frame of the present invention, seat frame, wheel, accumulator, electric machine mounting device, cantilever, motor, wheel explosive view.
Fig. 2 is cantilever in the present invention, electric machine mounting device, motor, wheel explosive view
Fig. 3 is master controller and motor in the present invention, voltage regulator, angular transducer, wheel connection diagram
Fig. 4 is Host Controller Architecture schematic diagram in the present invention
Number in the figure is: 1-vehicle frame, 2-seat frame, 3-wheel, 4-circle plug, 5-accumulator, 6-CAN bus interface circuit, 7-drive control signal pre-process circuit, 8-power driving circuit, 9-voltage and current detection circuit, 10-spacer, 11-PIC is single-chip microcomputer, 12-master controller, 13-motor, 14-angular transducer, 15-voltage regulator, 16-cantilever, 17-electric machine mounting device, 18-motor connecting base, 19-bearing.
Detailed description of the invention
Below in conjunction with embodiment that accompanying drawing 1-4 is represented, the invention will be further described: a kind of electric wheel-chair vehicle four-wheel independent driving mechanism, comprise vehicle frame 1, be positioned at vehicle frame 1 top seat underframe 2, be positioned at vehicle frame below four wheels 3, be loaded on the accumulator 5 on vehicle frame 1, it establishes CAN bus interface circuit 6, drive control signal pre-process circuit 7, power driving circuit 8, voltage and current detection circuit 9, PIC in also comprising be the master controller 12 of single-chip microcomputer 11; Four described wheels 3 are contained on the output shaft of a motor 13 separately, and four described motors 13 are connected with master controller 12, and master controller 12 is directly controlled the rotating speed of four motors 13, four each self-driven wheels 3 of motor 13; On the vehicle frame 1 at wheel 3 places, be also provided with and detect wheel 3 angular transducer 14 turning to and the voltage regulator 15 that carries out signal processing and amplifying, angular transducer 14 adopts Hall-type position sensor, angular transducer 14 is connected with voltage regulator 15, and voltage regulator 15 is connected with the single-chip microcomputer 11 in master controller 12.The described each circuit of master controller 12, motor 13 connect as follows: single-chip microcomputer 11 is connected with CAN bus interface circuit 6, voltage and current detection circuit 9, drive control signal pre-process circuit 7; Power driving circuit 8 is connected with drive control signal pre-process circuit 7, voltage and current detection circuit 9, motor 13 respectively; Motor 13 is connected with angular transducer 14.Vehicle frame 1 is provided with forward and backward two cantilevers 16, and each motor 13 is contained on cantilever (16) by electric machine mounting device 17 separately.Described electric machine mounting device 17 is made up of motor connecting base 18, bearing 19, spacer 10, circle plug 4, and motor connecting base 18 is fixed on cantilever 16 by circle plug 4 through bearing 19, spacer 10 successively.
Described motor 13 is efficient rare-earth permanent magnet brush motor.
The control procedure of the present embodiment is as follows:
Be that Hall-type position sensor is measured motor 13 steering angle signals by angular transducer 14, and by the deviation of computational speed set-point and speed feedback value, send deviation to voltage regulator 15, through the output of voltage regulator 15 processing and amplifying as voltage set-point.This voltage set-point is sent to the PIC single-chip microcomputer 11 of 12 li of master controllers as a useful signal, PIC single-chip microcomputer 11 calls storage inside setting program after receiving signal, this program allows PIC single-chip microcomputer 11 send a signal to drive control signal pre-process circuit 7, drive control signal pre-process circuit 7 produces a PWM modulation signal, control the dutycycle of PWM, then power ratio control drive circuit 8, realizes the control to motor speed and Motor torque.
It is apparent to one skilled in the art that the present invention can change into various ways, and such change is not thought and departed from the scope of the present invention.All such to the apparent amendment of described those skilled in the art by within being included in the scope of this claim.
Claims (9)
1. an electric wheel-chair vehicle four-wheel independent driving mechanism, comprise vehicle frame (1), be positioned at vehicle frame (1) top seat underframe (2), be positioned at vehicle frame below four wheels (3), be loaded on the accumulator (5) on vehicle frame (1), it is characterized in that, it establishes CAN bus interface circuit (6), drive control signal pre-process circuit (7), power driving circuit (8), voltage and current detection circuit (9), PIC in also comprising be the master controller (12) of single-chip microcomputer (11); Described four wheels (3) are contained on the output shaft of a motor (13) separately, described four motors (13) are connected with master controller (12), master controller (12) is directly controlled the rotating speed of four motors (13), the each self-driven wheels of four motors (13) (3); On the vehicle frame (1) that wheel (3) is located, be also provided with and detect the angular transducer (14) that wheel (3) turns to and the voltage regulator (15) that carries out signal processing and amplifying, angular transducer (14) is connected with voltage regulator (15), and voltage regulator (15) is connected with the single-chip microcomputer (11) in master controller (12).
2. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 1, it is characterized in that, the described each circuit of master controller (12), motor (13) connect as follows: single-chip microcomputer (11) is connected with CAN bus interface circuit (6), voltage and current detection circuit (9), drive control signal pre-process circuit (7); Power driving circuit (8) is connected with drive control signal pre-process circuit (7), voltage and current detection circuit (9), motor (13) respectively; Motor (13) is connected with angular transducer (14).
3. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 1 and 2, is characterized in that vehicle frame (1) is provided with forward and backward two cantilevers (16), and each motor (13) is contained on cantilever (16) by electric machine mounting device (17) separately.
4. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 1 and 2, is characterized in that, described motor (13) is efficient rare-earth permanent magnet brush motor.
5. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 3, is characterized in that, described motor (13) is efficient rare-earth permanent magnet brush motor.
6. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 1 and 2, it is characterized in that, described electric machine mounting device (17) is made up of motor connecting base (18), bearing (19), spacer (10), circle plug (4), and motor connecting base (18) is fixed on cantilever (16) by circle plug (4) through bearing (19), spacer (10) successively.
7. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 3, it is characterized in that, described electric machine mounting device (17) is made up of motor connecting base (18), bearing (19), spacer (10), circle plug (4), and motor connecting base (18) is fixed on cantilever (16) by circle plug (4) through bearing (19), spacer (10) successively.
8. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 4, it is characterized in that, described electric machine mounting device (17) is made up of motor connecting base (18), bearing (19), spacer (10), circle plug (4), and motor connecting base (18) is fixed on cantilever (16) by circle plug (4) through bearing (19), spacer (10) successively.
9. electric wheel-chair vehicle four-wheel independent driving mechanism according to claim 5, it is characterized in that, described electric machine mounting device (17) by motor connecting base (18), bearing (1) ((9), spacer (10, circle plug (4) form, motor connecting base (18) is fixed on cantilever (16) by justifying plug (4) through bearing (19), spacer (10) successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410122446.1A CN103892969A (en) | 2014-03-28 | 2014-03-28 | Four-wheel individual driving mechanism for electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410122446.1A CN103892969A (en) | 2014-03-28 | 2014-03-28 | Four-wheel individual driving mechanism for electric wheelchair |
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| CN103892969A true CN103892969A (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410122446.1A Pending CN103892969A (en) | 2014-03-28 | 2014-03-28 | Four-wheel individual driving mechanism for electric wheelchair |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887415A (en) * | 2015-06-03 | 2015-09-09 | 泰山医学院 | Double-control wheelchair and utilization method thereof |
| CN106038103A (en) * | 2016-08-09 | 2016-10-26 | 天津工业大学 | Four-wheel independent driving control system of electric wheelchair |
| CN106896806A (en) * | 2015-12-21 | 2017-06-27 | 天津玖良科技有限公司 | A kind of driver element of suitable AGV dollies climbing |
| CN108652846A (en) * | 2018-06-05 | 2018-10-16 | 西安星球通智能装备技术有限公司 | A kind of electric wheelchair carried out and its control method |
| CN109107142A (en) * | 2018-10-17 | 2019-01-01 | 上海知此电子科技有限公司 | A kind of electric return board and its redundancy control method |
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| US4387325A (en) * | 1981-04-15 | 1983-06-07 | Invacare Corporation | Electric wheelchair with speed control circuit |
| JP2000312405A (en) * | 1999-04-23 | 2000-11-07 | Matsushita Electric Ind Co Ltd | Electric wheel chair |
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| CN102009720A (en) * | 2010-07-13 | 2011-04-13 | 北京理工大学 | Transverse closed-type motor |
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| CN203749716U (en) * | 2014-03-28 | 2014-08-06 | 金华市伊凯动力科技有限公司 | Four-wheel independent driving mechanism for electric wheelchair |
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2014
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Patent Citations (8)
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| US4387325A (en) * | 1981-04-15 | 1983-06-07 | Invacare Corporation | Electric wheelchair with speed control circuit |
| JP2000312405A (en) * | 1999-04-23 | 2000-11-07 | Matsushita Electric Ind Co Ltd | Electric wheel chair |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887415A (en) * | 2015-06-03 | 2015-09-09 | 泰山医学院 | Double-control wheelchair and utilization method thereof |
| CN106896806A (en) * | 2015-12-21 | 2017-06-27 | 天津玖良科技有限公司 | A kind of driver element of suitable AGV dollies climbing |
| CN106038103A (en) * | 2016-08-09 | 2016-10-26 | 天津工业大学 | Four-wheel independent driving control system of electric wheelchair |
| CN108652846A (en) * | 2018-06-05 | 2018-10-16 | 西安星球通智能装备技术有限公司 | A kind of electric wheelchair carried out and its control method |
| CN108652846B (en) * | 2018-06-05 | 2023-10-31 | 西安星球通智能装备技术有限公司 | Electric wheelchair capable of being pushed and control method thereof |
| CN109107142A (en) * | 2018-10-17 | 2019-01-01 | 上海知此电子科技有限公司 | A kind of electric return board and its redundancy control method |
| CN109107142B (en) * | 2018-10-17 | 2019-12-06 | 上海知此电子科技有限公司 | Electric skateboard and redundancy control method thereof |
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Application publication date: 20140702 |