CN105686910B - A kind of driving method suitable for scene adapter type driving wheel - Google Patents
A kind of driving method suitable for scene adapter type driving wheel Download PDFInfo
- Publication number
- CN105686910B CN105686910B CN201610048276.6A CN201610048276A CN105686910B CN 105686910 B CN105686910 B CN 105686910B CN 201610048276 A CN201610048276 A CN 201610048276A CN 105686910 B CN105686910 B CN 105686910B
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- CN
- China
- Prior art keywords
- wheel
- barrier
- central control
- control system
- wheel rim
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
- B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/023—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels
- B62K5/025—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
Abstract
The invention provides a kind of driving method suitable for scene adapter type driving wheel, including dynamical system, central control system, identifying system and balance system, control method is a, environment is detected by identifying system, and obstacle information is fed back in central control system；B, central control system start analyze data, and site is pressed in the pick-up point that data include the wheel rim to the distance, the number of turns of wheel rim pick-up point to barrier, wheel rim of barrier；At c, arrival barrier, central control system determines to be lifted by corresponding cylinder；D, central control system directly control dynamical system and active cylinder lifting；E, in wheel rim pressure during barrier, identifying system detects barrier again, it is ensured that barrier size it is accurate, if inaccurate again to step c；F, central control system just resets cylinder immediately after barrier, wheel rim is turned into full circle again.It is balanced compensated during invention control wheel chance barrier, it will not produce and jolt when rolling.
Description
Technical field
The invention belongs to wheel drive technical field, more particularly to a kind of driving side suitable for scene adapter type driving wheel
Method.
Background technology
At aspect of riding instead of walk, traditional scooter wheel, wheelchair wheel can play top volt when running into rugged road surface, on wheel
It is generally patient that user, which has on very bad experience, especially wheelchair, and the deterioration of the state of an illness can be aggravated by jolting.
Moreover, such as above and below the wheel of wheelchair, suitcase is difficult in stair activity, to solve the above problems, there is design Y shape
Wheel carrier, three of wheel carrier are equipped with roller, although so can stair activity, the diameter of wheel is bound to very little, especially
When being used on wheelchair, rise very little when the user being sitting on wheelchair promotes every time, the stroke of wheel also very little, increasing is pushed away
Dynamic frequency is again more painstaking.If using battery power, the excessive velocities of small-wheel-diameter wheelchair are easily turned on one's side.
The content of the invention
The purpose of the present invention is to make rolling there is provided one kind the problem of for above-mentioned rollers in particular circumstances presence to mend
The scene adapter type driving wheel structure repaid.
The purpose of the present invention can be realized by following technical proposal：A kind of driving suitable for scene adapter type driving wheel
Method, driving wheel includes：Wheel carrier, wheel shaft and wheel rim, the wheel shaft are rotated on wheel carrier, and described wheel rim is same to be located in wheel shaft
Outer ring, wheel rim is uniformly divided into multistage, is connected between every section of wheel rim and wheel shaft by the telescoping mechanism of a radial direction, described telescopic machine
Structure includes radial spoke on wheel rim, and every spoke constitute by one group of expansion link, the driving wheel including dynamical system, in
Entreat control system, identifying system and balance system, it is characterised in that driving method is as follows：
A, dynamical system control telescoping mechanism motion, dynamical system include battery and pressure pump control module, the pressure
Pump control module is directly controlled by central control system, and described dynamical system also includes wheel hub motor, wheel hub motor connection
Wheel shaft and live axle rotation, wheel hub motor are directly controlled by central control system, and balance system includes gyro module, gyro
Instrument module is connected with central control system；
B, by identifying system environment is detected, obstacle information is fed back into identifying system bag in central control system
Rangefinder module or radar module are included, rangefinder module or radar module directly feed back to information in central control system；
C, central control system start analyze data, and data include distance of the pick-up point of the wheel rim to barrier, wheel rim
Site is pressed to the number of turns of barrier, wheel rim in pick-up point；
At d, arrival barrier, central control system determines to be lifted by corresponding telescoping mechanism, determines telescopic machine
The lifting distance of structure, enables wheel rim steadily to compensate；
E, central control system control dynamical system and act on telescoping mechanism lifting again；
F, in wheel rim pressure during barrier, identifying system detects barrier again, it is ensured that barrier size it is accurate；
G, central control system just resets telescoping mechanism immediately after barrier, wheel rim is turned into full circle again.
Compared with prior art, the size of wheel can be consistent by the invention with existing wheel size, can reach phase
Same rolling speed, while having barrier balanced compensated again, will not produce when rolling and jolt, it is adaptable to electric wheelchair, service-delivery machine
People, scooter etc..
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
The step that Fig. 2 is the present invention rises schematic diagram.
Fig. 3 is the schematic diagram of the excessively small-sized barrier of the present invention.
Fig. 4 is each phylogenetic relationship schematic diagram of the invention.
In figure, 1, wheel rim；2nd, expansion link；3rd, fixed part；4th, wheel shaft；5th, rangefinder module；6th, wheel carrier；7th, center control system
System；8th, balance system；9th, identifying system；10th, dynamical system；11st, pressure pump control module；12nd, wheel hub motor；13rd, cylinder；
14th, battery；15th, gyro module；16th, radar module.
Embodiment
The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment 1
Shown in Fig. 1, the present invention includes a wheel carrier 6, and wheel carrier 6 is provided with the wheel of single-wheel or two-wheel, single-wheel or two-wheel
Axle 4 is rotated on wheel carrier 6, and wheel shaft 4 is radially provided with some radial spokes, and each spoke is made up of one group of expansion link 2, more entered
One step, the expansion link 2 can be bar shaped cylinder 13, and the cylinder body of cylinder 13 is fixed on the circumferential fixed part 3 of wheel shaft 4, piston
Bar part connects wheel rim 1.Described wheel rim 1 is multistage, one cylinder 13 of every section of correspondence by even partition.Turn as normal wheel
When dynamic, the gap no more than 5mm that every section of wheel rim 1 is enclosed.The piston rod of cylinder 13 is connected to the middle part of every section of wheel rim 1, every section
1 point of wheel rim is inner side and outer side, and the inner side of the wheel rim 1 is linear, and outer ring is arc line shaped.
Shown in Fig. 4, the invention also includes dynamical system 10, central control system 7, identifying system 9 and balance system 8, in
Centre control system 7 connects dynamical system 10, identifying system 9, balance system 8 respectively, and identifying system 9, balance system 8 are anti-by information
Central control system 7 is fed to, central control system 7 will directly control the output of dynamical system 10：
Identifying system 9 includes rangefinder module 5 or radar module 16, and rangefinder module 5 or radar module 16 will be believed
Breath is directly fed back in central control system 7,
Balance system 8 includes spiral shell instrument module, and gyro module 15 is connected with central control system 7 and feeds back to angle information
In central control system 7,
Dynamical system 10 includes battery 14, pressure pump control module 11, wheel hub motor 12, and pressure pump control module 11 is in
Centre control system 7 is directly controlled, the connection cylinder 13 of pressure pump control module 11, and gas is determined by the submiting command of central control system 7
Cylinder 13 it is flexible；Simultaneously live axle 4 is rotated the connection of wheel hub motor 12 wheel shaft 4, and wheel hub motor 12 is directly controlled by central control system 7
System.
The control method of system above is as follows：
A, by identifying system 9 environment is detected, obstacle information is fed back in central control system 7；
B, central control system 7 start analyze data, and data include the pick-up point of the wheel rim 1 to the distance of barrier, wheel
Enclose 1 pick-up point and press site to the number of turns of barrier, wheel rim 1；
At c, arrival barrier, central control system 7 determines to be lifted by corresponding cylinder 13, the length of lifting,
Shown in Fig. 2, during top bar, cylinder 13 is stretched；Described in Fig. 3, when running into fritter barrier, corresponding cylinder 13 is carried out
Shrink, wheel rim 1 is steadily compensated, such as run into the pattern compensation of barrier reference picture 2 of bulk；
Simultaneously active cylinder 13 is lifted d, central control system 7 directly control dynamical system 10；
E, wheel rim 1 pressure on barrier when, identifying system 9 detects barrier again, it is ensured that barrier size it is accurate, such as
It is really inaccurate again to step c；
F, central control system 7 just resets cylinder 13 immediately after barrier, wheel rim 1 is turned into full circle again.
In a-f steps, control wheel shaft 4 rotates central control system 7 always, and keeps balance by balance system 8.
Embodiment 2
For three-wheel or carriage, balance system 8 can be cancelled, embodiment can refer to embodiment 1.
Claims (1)
1. a kind of driving method suitable for scene adapter type driving wheel, driving wheel includes：Wheel carrier (6), wheel shaft (4) and wheel rim
(1), the wheel shaft (4) is rotated on wheel carrier (6), and described wheel rim (1) is uniform with wheel shaft (4) outer ring, wheel rim (1) is located in
It is divided into multistage, is connected between every section of wheel rim (1) and wheel shaft (4) by the telescoping mechanism of a radial direction, described telescoping mechanism includes
Radial spoke on wheel rim (1), every spoke is constituted by one group of expansion link (2), and the driving wheel includes dynamical system
(10), central control system (7), identifying system (9) and balance system (8), it is characterised in that driving method is as follows：
A, dynamical system (10) control telescoping mechanism motion, dynamical system (10) include battery (14) and pressure pump control module
(11), the pressure pump control module (11) is directly controlled by central control system (7), and described dynamical system (10) also includes
Wheel hub motor (12), the wheel hub motor (12) connection wheel shaft (4) and live axle (4) are rotated, and wheel hub motor (12) is controlled by center
System (7) processed directly controls, and balance system (8) includes gyro module (15), gyro module (15) and central control system
(7) connect；
B, by identifying system (9) environment is detected, obstacle information is fed back into identifying system in central control system (7)
(9) rangefinder module (5) or radar module (16) are included, rangefinder module (5) or radar module (16) directly feed back information
Into central control system (7)；
C, central control system (7) start analyze data, and data include the pick-up point of the wheel rim (1) to the distance of barrier, wheel
Enclose (1) pick-up point to barrier the number of turns, wheel rim (1) pressure site；
At d, arrival barrier, central control system (7) determines to be lifted by corresponding telescoping mechanism, determines telescoping mechanism
Lifting distance, wheel rim (1) is steadily compensated；
E, central control system (7) control dynamical system (10) and act on telescoping mechanism lifting again；
F, in wheel rim (1) pressure during barrier, identifying system (9) detects barrier again, it is ensured that barrier size it is accurate；
G, central control system (7) just resets telescoping mechanism immediately after barrier, wheel rim (1) is turned into full circle again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048276.6A CN105686910B (en) | 2016-01-25 | 2016-01-25 | A kind of driving method suitable for scene adapter type driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048276.6A CN105686910B (en) | 2016-01-25 | 2016-01-25 | A kind of driving method suitable for scene adapter type driving wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105686910A CN105686910A (en) | 2016-06-22 |
| CN105686910B true CN105686910B (en) | 2017-07-28 |
Family
ID=56229469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610048276.6A Active CN105686910B (en) | 2016-01-25 | 2016-01-25 | A kind of driving method suitable for scene adapter type driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105686910B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671695A (en) * | 2017-01-09 | 2017-05-17 | 王超 | Deformable wheel on trolley |
| CN106618892A (en) * | 2017-03-07 | 2017-05-10 | 华东理工大学 | Multifunctional wheelchair enabling independent travel |
| CN112914858B (en) * | 2021-01-26 | 2023-05-16 | 明光宜弘塑料五金制品有限公司 | Eight-drive variable-wheelbase patient walking-assisting wheelchair |
| CN112914862A (en) * | 2021-02-24 | 2021-06-08 | 陈娇 | Expanding type poking wheel chair |
| CN114983694B (en) * | 2022-05-23 | 2023-02-17 | 吉林大学 | Self-adaptive multi-terrain electric stair climbing wheelchair |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2302154Y (en) * | 1997-08-25 | 1998-12-30 | 孟宪伟 | Spoke variable wheel |
| FR2795947A1 (en) * | 1999-07-05 | 2001-01-12 | Alain Limpas | Wheelchair has deformable rims on large wheels for overcoming obstacles such as sidewalks or steps |
| CN101462462A (en) * | 2007-12-19 | 2009-06-24 | 李上 | Elastic spoked wheel |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN204890388U (en) * | 2015-07-09 | 2015-12-23 | 郑州大学 | Accessible platform downstairs of going up |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10100602A (en) * | 1996-09-28 | 1998-04-21 | Fumito Ito | Wheel capable of getting on/off step difference |
-
2016
- 2016-01-25 CN CN201610048276.6A patent/CN105686910B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2302154Y (en) * | 1997-08-25 | 1998-12-30 | 孟宪伟 | Spoke variable wheel |
| FR2795947A1 (en) * | 1999-07-05 | 2001-01-12 | Alain Limpas | Wheelchair has deformable rims on large wheels for overcoming obstacles such as sidewalks or steps |
| CN101462462A (en) * | 2007-12-19 | 2009-06-24 | 李上 | Elastic spoked wheel |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN204890388U (en) * | 2015-07-09 | 2015-12-23 | 郑州大学 | Accessible platform downstairs of going up |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105686910A (en) | 2016-06-22 |
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