CN104887414A - Omni-directionally movable wheelchair with gravity center adjusting function - Google Patents
Omni-directionally movable wheelchair with gravity center adjusting function Download PDFInfo
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- CN104887414A CN104887414A CN201510300278.5A CN201510300278A CN104887414A CN 104887414 A CN104887414 A CN 104887414A CN 201510300278 A CN201510300278 A CN 201510300278A CN 104887414 A CN104887414 A CN 104887414A
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Abstract
The invention discloses an omni-directionally movable wheelchair with a gravity center adjusting function. The omni-directionally movable wheelchair comprises a chair, an electric push rod, an omni-directionally movable platform, inclination angle measuring devices, a control unit and a power source. The chair is movably connected with the omni-directionally movable platform, two ends of the electric push rod are respectively hinged to the bottom surface of the chair and the omni-directionally movable platform, inclination angles between planes of the chair and the ground can be sensed by the inclination angle measuring devices, angle values can be transmitted to the control unit by the inclination angle measuring devices, the electric push rod can be extended and retracted under the control of the control unit so that the planes of the chair can keep parallel to the horizontal plane, and the electric push rod, the omni-directionally movable platform, the inclination angle measuring devices and the control unit are powered by the power source. The omni-directionally movable wheelchair has the advantages that the wheelchair can move omni-directionally and has an automatic balance adjusting function; the omni-directionally movable wheelchair with characteristics of zero rotation radius and flexible and free movement is applicable to environments with narrow spaces, and accordingly the action capacity of users and the comfort can be improved.
Description
Technical field
Invention relates to a kind of electric wheelchair, is specifically related to a kind of electric wheelchair that can adapt to little space and domatic environment.
Background technology
Along with the acceleration of growth in the living standard and aged tendency of population, electric wheelchair has become old people and the indispensable walking-replacing tool of lower limb disability patient.Electric wheelchair existing on market generally adopts two steamboats above to support, the structure of two large wheel drive next, radius of turn is large, is not suitable for using at narrow spaces such as elevators, in addition, all-around mobile wheelchair receives increasing concern due to its motility.Wherein, omni-directional moving mechanism is the basis of omnibearing movable wheelchair.Occur that more omni-directional moving mechanism generally adopts special wheel to be achieved, this wheel can a direction active exercise another one direction passive exercise, common special train mainly contain orthogonally to take turns, ball wheel, Mecanum wheel, switch wheel etc. continuously.
It is orthogonal that to take turns in motor process two wheels are alternately kiss the earths, this just causes the pressure that each wheel bears in motor process to change greatly, thus impact and the frictional force of earth surface, have impact on the velocity of rotation of wheel, reduce the kinematic accuracy of electric wheelchair.Because the wheelchair driving force using ball wheel is caused by the frictional force of roller and wheel, so the driving force of wheel and speed are restricted, simultaneously, because wheel frictional force in rolling process is easily subject to the impact of extraneous factor, as the dust of absorption, water etc., therefore wheel can skid.Mecanum wheel is most widely used in all-around mobile wheelchair.The all-around mobile wheelchair be made up of Mecanum wheel has does not need independently steering driving mechanism, controls simple, is swift in response, the advantages such as flexible operation, but owing to there is gap between roller, easily cause vibration or the skidding of car body, and this wheel there is very high requirement to fabrication design.The continuous problem switched existing for wheel is similar to Mecanum wheel, due to wheel disc rotate time, roller easily causes vibration and the skidding of robot with the discontinuous contact on ground.
Summary of the invention
In view of this, the invention provides a kind of omnibearing movable wheelchair with centre of gravity adjustment, the all-around mobile of wheelchair and automatic adjustment function can be realized, due to the feature of its zero radius of gyration, movement nimbly and freely, be applicable to the environment of narrow space, improve ability to act and the comfort level of user.
There is an omnibearing movable wheelchair for centre of gravity adjustment, comprise seat, electric pushrod, omni-directional moving platform, dip measuring device, control unit and power supply;
Described seat is flexibly connected with omni-directional moving platform, the two ends of described electric pushrod respectively with the bottom surface of seat and omni-directional moving platform hinged, the described plane of dip measuring device perception seat and the inclination angle on ground also send angle value to control unit, described control unit is by controlling flexible plane and the horizontal plane keeping parallelism making seat of electric pushrod, and described power supply is that described electric pushrod, omni-directional moving platform, dip measuring device and control unit are powered.
Further, described omni-directional moving platform comprises vehicle frame and is arranged on two support wheels in bottom of frame front and is arranged on two differential drive gear at bottom of frame rear, described support wheel is universal wheel, described differential drive gear comprises motor cabinet support, two cover transmission component and two standard wheels, a set of transmission component drives separately a standard wheels, and described differential drive gear is flexibly connected with vehicle frame by motor cabinet support.
Further, described transmission component comprises motor, decelerator, encoder, bearing holder (housing, cover) I, bearing I, driving gear and driven gear; Motor output shaft is connected with decelerator, and motor and decelerator are all fixed on motor cabinet support, and the axis of motor output shaft is vertical with the direction of advance of wheelchair; The output shaft of decelerator passes to standard wheels by driving gear and driven gear successively transmission power; Described driving gear is fixedly connected with the output shaft of decelerator by axle sleeve, described driven gear is fixedly connected on the power transmission shaft of standard wheels, the power transmission shaft of described standard wheels is supported by bearing I, bearing I in bearing holder (housing, cover) I by the motion of jump ring restrictive axial, described bearing holder (housing, cover) I is fixedly connected with motor cabinet support, described driving gear and driven gear intermesh, described control unit sends drive singal according to the angular displacement signal of encoder collection to motor, and omni-directional moving platform is moved according to the direction of specifying.
Further, described dip measuring device is arranged on the below of seat plane, and dip measuring device is made up of accelerometer and gyroscope.
Further, for protection taper roll bearing is not damaged when being subject to axial impact, the one end be connected with motor cabinet support at rotating shaft is set with buffer spring, conflicts with the end face of bearing holder (housing, cover) II and the upper surface of motor cabinet support respectively in the two ends of buffer spring.
Further, described control unit adopts ARM Cortex
tMthe microprocessor of-M3 kernel.
Beneficial effect:
1, wheelchair of the present invention is when there being the gradient at certain inclination angle to move, and can adjust seat posture in front and back, the imbalance caused due to the gradient can be avoided to topple over, improve the ride quality of user simultaneously.
2, differential unit of the present invention adopts gear drive to realize motion between the output shaft of decelerator and these two parallel axes of wheel axle center and power transmission, have transmission accurately, steadily, the advantage such as high, the transmission efficiency of efficiency and velocity interval is wide, long service life, be applicable to the occasion that centre-to-centre spacing is less.
3, two wheels of each differential unit of the present invention keep coaxial, two wheels keep coaxial, but parallel distributions before and after two motors adopt but not left and right distribute side by side, relative to the centre-to-centre spacing reduced toothed belt transmission between two driving members, achieve little spaces compact structure, improve aesthetic property, avoid interacting between two differential units.
4, the present invention adopts Spur Gear Driving not have too high requirement to the quality of fit of gear, even if the axial float that gear occurs in range of error in motor process also can ensure reliable transmission, and bevel gear requires very high to the accuracy of mesh, once there be play to occur very likely to occur stuck phenomenon, affect the normal operation of wheelchair.
5, the present invention adopts accelerometer and gyroscope integration technology to detect balancing seat attitude, and have cost low, reliability is high, low in energy consumption, and the little autonomy of size is good, disguised strong, adds the accuracy of control simultaneously.
6, control unit of the present invention adopts based on ARM Cortex
tMthe microprocessor of-M3 kernel, this chip functions is powerful, have abundant peripheral hardware, have high-speed computation ability, makes wheelchair can carry out instant differentiation to the gradient on ground, guarantees the accuracy regulated.
Accompanying drawing explanation
Fig. 1 is overall structure figure of the present invention
Fig. 2,3 is differential drive gear mechanism map of the present invention
Fig. 4 is the johning knot composition of differential drive gear of the present invention and car body
Fig. 5 is the johning knot composition of automatic center-of-gravity regulating balanced controls of the present invention and car body
Schematic appearance when Fig. 6 is wheelchair during slope climbing of the present invention
Schematic appearance when Fig. 7 is wheelchair descending of the present invention
Wherein, 1-vehicle frame, 2-seat, 3-electric pushrod, 4-support wheel, 5-differential drive gear, 8-control chamber, 9-standard wheels, 10-motor cabinet support, 11-pallet, 12-transmission component, 13-motor, 14-decelerator, 15-driving gear, 16-encoder, 17-axle sleeve, 18-driven gear, 19-bearing holder (housing, cover) I, 20-bearing I, 21-bearing II, 22-sleeve, 23-end cap, 24-handrail, the holder of 25-foot, 26-taper roll bearing, 27-bearing (ball) cover, 28-connector, 29-rotating shaft, 30-bearing, 31-bearing holder (housing, cover) II.
Detailed description of the invention
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
As shown in Figure 1, the invention provides a kind of omnibearing movable wheelchair with centre of gravity adjustment, comprise seat 2, electric pushrod 3, omni-directional moving platform, dip measuring device, control unit and power supply;
Described omni-directional moving platform comprises vehicle frame 1 and is arranged on two support wheels 4 of vehicle frame 1 bottom front and is arranged on two differential drive gear 5 of vehicle frame 1 bottom rear, and described support wheel 4 is universal wheel; Described vehicle frame 1 is also equipped with handrail 24 and foot holder 25, control chamber 8 is fixed on the pallet 11 of central frame beam part, for installing power supply and control unit;
As shown in Figures 2 and 3, described differential drive gear 5 comprises motor cabinet support 10, two and overlaps transmission component 12 and two standard wheels 9, and a set of transmission component 12 drives a standard wheels 9 separately;
Described control unit adopts ARM Cortex
tMthe microprocessor of-M3 kernel.
Described transmission component 12 comprises motor 13, decelerator 14, encoder 16, bearing holder (housing, cover) 19, bearing I 20, driving gear 15 and driven gear 18; Motor 13 output shaft is connected with decelerator 14, and motor 13 and decelerator 14 are all fixed on motor cabinet support 10, and the axis of motor output shaft is vertical with the direction of advance of wheelchair; The output shaft of decelerator 14 passes to standard wheels 9 by driving gear 15 and driven gear 18 successively transmission power; Described driving gear 15 is fixedly connected with by the output shaft of axle sleeve 17 with decelerator 14, described driven gear 18 is fixedly connected on the power transmission shaft of standard wheels 9, the power transmission shaft of described standard wheels 9 is supported by bearing I 20, bearing I 20 in bearing holder (housing, cover) I 19 by the motion of jump ring restrictive axial, described bearing holder (housing, cover) I 19 is fixedly connected with motor cabinet support 10, described driving gear 15 and driven gear 18 intermesh, described control unit sends drive singal according to the angular displacement signal of encoder collection to motor 13, and wheelchair is moved according to the direction of specifying.
As shown in Figure 4, described differential drive gear 5 is by motor cabinet support 10, taper roll bearing 26, bearing holder (housing, cover) II 31, connector 28 and rotating shaft 29 are flexibly connected with vehicle frame 1, one end of described connector is fixedly connected with vehicle frame 1, the other end is fixedly connected with bearing holder (housing, cover) II 31, described taper roll bearing 26 is arranged in bearing holder (housing, cover) II 31, axial limiting is carried out by bearing (ball) cover 27 pairs of taper roll bearings 26, described rotating shaft 29 is connected with taper roll bearing 26, one end of rotating shaft 29 is fixedly connected with motor cabinet support 10, realize being flexibly connected of differential drive gear 5 and vehicle frame thus, for protection taper roll bearing 26 is not damaged when being subject to axial impact, the one end be connected with motor cabinet support 10 at rotating shaft 29 is set with buffer spring, conflict with the end face of bearing holder (housing, cover) II 31 and the upper surface of motor cabinet support 10 respectively in the two ends of buffer spring.
As shown in Figure 5, described seat 2 is movably connected on vehicle frame 1 by bearing II 21, sleeve 22 and end cap 23, the inner ring of described bearing II 21 is fixedly connected with the inner side of vehicle frame 1, described sleeve 22 is sleeved on the outer circumference surface of bearing II 21 outer ring, described end cap 23 is arranged on the end face of sleeve 22, prevents the axial float of bearing II 21; The two ends of described electric pushrod 3 respectively with the bearing 30 of the bottom surface of seat and the vehicle frame 1 of omni-directional moving platform hinged.
Described dip measuring device is arranged on the below of seat 2 plane, dip measuring device is made up of accelerometer and gyroscope, described control unit receives the measuring-signal of dip measuring device and draws the controlled quentity controlled variable to electric pushrod 3 after calculating, control the stroke of electric pushrod 3, make the state that the plane of seat 2 and horizontal plane remain parallel, the signal of described control unit also received code device 16, after control unit calculates corresponding controlled quentity controlled variable, the motor 13 in differential drive gear 5 is driven, realize the advance of omni-directional moving platform 7, the actions such as retrogressing and turning.
As seen in figs. 6 and 7, the center of gravity of wheelchair during wheelchair climb and fall regulates work process, and gyroscope and accelerometer are housed to detect seat inclination angle at under-seat, electric pushrod is as actuator.When wheelchair is when there being the gradient at certain inclination angle to move, the comfort level considering user and the imbalance caused due to the gradient are toppled over, by regulating the travel distance of electric pushrod change the inclination angle of seat and then compensate the gravity center shift that wheelchair occurs in climbing process, and then the center of gravity self-balancing completing wheelchair regulates.When wheelchair climb and fall, the inclination value recorded is passed to control unit by dip measuring device, and it is flexible until inclination value is zero that control unit controls electric pushrod, thus ensure the balance of wheelchair.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. there is the omnibearing movable wheelchair of centre of gravity adjustment, it is characterized in that, comprising: seat (2), electric pushrod (3), omni-directional moving platform (7), dip measuring device, control unit and power supply;
Described seat (2) is flexibly connected with omni-directional moving platform (7), the two ends of described electric pushrod (3) respectively with the bottom surface of seat (2) and omni-directional moving platform hinged, the described plane of dip measuring device perception seat (2) and the inclination angle on ground also send angle value to control unit, described control unit is by controlling flexible plane and the horizontal plane keeping parallelism making seat (2) of electric pushrod (3), described power supply is described electric pushrod (3), omni-directional moving platform (7), dip measuring device and control unit are powered.
2. there is the omnibearing movable wheelchair of centre of gravity adjustment as claimed in claim 1, it is characterized in that, described omni-directional moving platform (7) comprises vehicle frame (1) and is arranged on two support wheels (4) of vehicle frame (1) bottom front and is arranged on two differential drive gear (5) of vehicle frame (1) bottom rear, described support wheel (4) is universal wheel, described differential drive gear (5) comprises motor cabinet support (10), two cover transmission component (12) and two standard wheels (9), a set of transmission component (12) drives a standard wheels (9) separately, described differential drive gear (5) is flexibly connected with vehicle frame (1) by motor cabinet support (10).
3. there is the omnibearing movable wheelchair of centre of gravity adjustment as claimed in claim 1, it is characterized in that, described transmission component (12) comprises motor (13), decelerator (14), encoder (16), bearing holder (housing, cover) I (19), bearing I (20), driving gear (15) and driven gear (18), motor (13) output shaft is connected with decelerator (14), and motor (13) and decelerator (14) are all fixed on motor cabinet support (10), and the axis of motor output shaft is vertical with the direction of advance of wheelchair, on motor cabinet support (10), the output shaft of decelerator (14) passes to standard wheels (9) by driving gear (15) and driven gear (18) successively transmission power, described driving gear (15) is fixedly connected with by the output shaft of axle sleeve (17) with decelerator (14), described driven gear (18) is fixedly connected on the power transmission shaft of standard wheels (9), the power transmission shaft of described standard wheels (9) is supported by bearing I (20), bearing I (20) in bearing holder (housing, cover) I (19) by the motion of jump ring restrictive axial, described bearing holder (housing, cover) I (19) is fixedly connected with motor cabinet support (10), described driving gear (15) and driven gear (18) intermesh, the angular displacement signal that described control unit gathers according to encoder (16) sends drive singal to motor (13), omni-directional moving platform (7) is moved according to the direction of specifying.
4. have the omnibearing movable wheelchair of centre of gravity adjustment as claimed in claim 1, it is characterized in that, described dip measuring device is arranged on the below of seat (2) plane, and dip measuring device is made up of accelerometer and gyroscope.
5. have the omnibearing movable wheelchair of centre of gravity adjustment as claimed in claim 1, it is characterized in that, described control unit adopts ARM Cortex
tMthe microprocessor of-M3 kernel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510300278.5A CN104887414B (en) | 2015-06-03 | 2015-06-03 | Omni-directionally movable wheelchair with gravity center adjusting function |
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| CN201510300278.5A CN104887414B (en) | 2015-06-03 | 2015-06-03 | Omni-directionally movable wheelchair with gravity center adjusting function |
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| CN104887414A true CN104887414A (en) | 2015-09-09 |
| CN104887414B CN104887414B (en) | 2017-04-26 |
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| CN201510300278.5A Expired - Fee Related CN104887414B (en) | 2015-06-03 | 2015-06-03 | Omni-directionally movable wheelchair with gravity center adjusting function |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105250088A (en) * | 2015-11-17 | 2016-01-20 | 南京康尼机电股份有限公司 | Intelligent seat |
| CN105816280A (en) * | 2016-05-03 | 2016-08-03 | 薄和秋 | Intelligent stair climbing wheelchair with effect of automatic distance measurement |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| KR101788177B1 (en) | 2016-08-24 | 2017-10-19 | 김준영 | Wheelchair |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
| CN107890396A (en) * | 2017-11-30 | 2018-04-10 | 定远县中林机械技术有限公司 | A kind of self-balancing seat |
| CN107898566A (en) * | 2017-12-25 | 2018-04-13 | 定远县中林机械技术有限公司 | A kind of adaptive stair activity wheelchair |
| CN108032925A (en) * | 2017-12-06 | 2018-05-15 | 定远县中林机械技术有限公司 | A kind of self-balancing equips electronic tracking car system |
| CN108042276A (en) * | 2017-11-30 | 2018-05-18 | 定远县中林机械技术有限公司 | One kind has multi-functional disabled people-aiding electric wheelchair |
| CN109070966A (en) * | 2016-03-23 | 2018-12-21 | 福特全球技术公司 | Multifunctional city electric transporting device and system |
| CN110169882A (en) * | 2019-05-14 | 2019-08-27 | 山东交通职业学院 | A kind of floated planar support balance holding meanss |
| CN110420098A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
| CN110613565A (en) * | 2019-09-24 | 2019-12-27 | 安徽信息工程学院 | Self-balancing wheelchair of riding instead of walk |
| CN112515870A (en) * | 2020-11-11 | 2021-03-19 | 温州大学 | Electric wheelchair capable of controlling running and turning by gravity center for sports |
| CN112623056A (en) * | 2021-01-08 | 2021-04-09 | 北京工业大学 | Omni-directional moving device based on non-universal wheel is realized |
| CN112826675A (en) * | 2021-01-04 | 2021-05-25 | 衢州职业技术学院 | Obstacle-crossing electric wheelchair |
| CN112932822A (en) * | 2021-01-29 | 2021-06-11 | 西安交通大学 | Pose detection and control method of electric wheelchair |
| CN113440345A (en) * | 2021-07-28 | 2021-09-28 | 青岛科技大学 | Omnidirectional wheelchair with automatically adjustable gravity center |
| CN114176922A (en) * | 2021-12-31 | 2022-03-15 | 合肥工业大学 | Wheelchair suitable for people with slight disabilities |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105250088B (en) * | 2015-11-17 | 2017-05-31 | 南京康尼机电股份有限公司 | A kind of Intelligent seat |
| CN105250088A (en) * | 2015-11-17 | 2016-01-20 | 南京康尼机电股份有限公司 | Intelligent seat |
| CN109070966A (en) * | 2016-03-23 | 2018-12-21 | 福特全球技术公司 | Multifunctional city electric transporting device and system |
| CN105816280A (en) * | 2016-05-03 | 2016-08-03 | 薄和秋 | Intelligent stair climbing wheelchair with effect of automatic distance measurement |
| KR101788177B1 (en) | 2016-08-24 | 2017-10-19 | 김준영 | Wheelchair |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
| CN108042276A (en) * | 2017-11-30 | 2018-05-18 | 定远县中林机械技术有限公司 | One kind has multi-functional disabled people-aiding electric wheelchair |
| CN107890396A (en) * | 2017-11-30 | 2018-04-10 | 定远县中林机械技术有限公司 | A kind of self-balancing seat |
| CN108032925A (en) * | 2017-12-06 | 2018-05-15 | 定远县中林机械技术有限公司 | A kind of self-balancing equips electronic tracking car system |
| CN107898566A (en) * | 2017-12-25 | 2018-04-13 | 定远县中林机械技术有限公司 | A kind of adaptive stair activity wheelchair |
| CN110420098A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
| CN110169882A (en) * | 2019-05-14 | 2019-08-27 | 山东交通职业学院 | A kind of floated planar support balance holding meanss |
| CN110613565A (en) * | 2019-09-24 | 2019-12-27 | 安徽信息工程学院 | Self-balancing wheelchair of riding instead of walk |
| CN112515870A (en) * | 2020-11-11 | 2021-03-19 | 温州大学 | Electric wheelchair capable of controlling running and turning by gravity center for sports |
| CN112826675A (en) * | 2021-01-04 | 2021-05-25 | 衢州职业技术学院 | Obstacle-crossing electric wheelchair |
| CN112623056A (en) * | 2021-01-08 | 2021-04-09 | 北京工业大学 | Omni-directional moving device based on non-universal wheel is realized |
| CN112932822A (en) * | 2021-01-29 | 2021-06-11 | 西安交通大学 | Pose detection and control method of electric wheelchair |
| CN113440345A (en) * | 2021-07-28 | 2021-09-28 | 青岛科技大学 | Omnidirectional wheelchair with automatically adjustable gravity center |
| CN113440345B (en) * | 2021-07-28 | 2022-07-22 | 青岛科技大学 | Omnidirectional wheelchair with gravity center capable of being automatically adjusted |
| CN114176922A (en) * | 2021-12-31 | 2022-03-15 | 合肥工业大学 | Wheelchair suitable for people with slight disabilities |
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