CN106420202B - Dynamic balancing electric wheelchair - Google Patents
Dynamic balancing electric wheelchair Download PDFInfo
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- CN106420202B CN106420202B CN201610956385.8A CN201610956385A CN106420202B CN 106420202 B CN106420202 B CN 106420202B CN 201610956385 A CN201610956385 A CN 201610956385A CN 106420202 B CN106420202 B CN 106420202B
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- wheel
- electric wheelchair
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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
- A61G5/04—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
-
- 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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
-
- 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
- A61G5/10—Parts, details or accessories
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention relates to dynamic balancing electric wheelchair, including：Wheelchair frame, the handrail including seat, at left and right sides of seat, the backrest on rear side of seat and the foot pedal being rotatably fixed at seat lower end, handrail, backrest and foot pedal are connect respectively with seat rotation；Single-wheel is connect with wheelchair frame by telescoping shoring column, motor and brake gear is provided in single-wheel；Control system, including the joystick being arranged on handrail, the power-assist order button being arranged at the hand-pushing handle being connect with backrest, the self-balancing circuit control panel being arranged in single-wheel and the microcontroller being arranged at joystick, it is controlled for the driving mode to electric wheelchair, control system is controlled by joystick control and body gesture control mode, joystick control mode realizes that body gesture control mode is realized by self-balancing circuit control panel by joystick.The bodily form of the present invention is compact, easy to carry, and intention assessment can be achieved in two kinds of control modes.
Description
Technical field
The present invention relates to electric wheelchair dynamic balancing technique fields, electronic more particularly to a kind of Collapsible mobile dynamic balancing
Wheelchair.
Background technology
All kinds of disabled person's sums in China account for the 6.34% of national population, wherein extremity disabled persons up to 82,960,000 at present
Number is 24,120,000, accounts for about the 29.07% of disabled population's sum, is the group that quantity is most in all kinds of disabled persons in China.Limbs are residual
The dyskinesia of disease people so that they are handicapped, influences daily life and communal participation ability, while to household and society
Huge substance and mental burden can be brought.Meanwhile China also gradually steps into " aging society ".By the end of the year 2014, China
Elderly population have reached 2.12 hundred million within 60 years old or more, account for the 15.5% of total population.It was predicted that the middle of this century elderly population quantity
Peak value is up to, it, at that time will be there are one the elderly in every 3 people more than 400,000,000.And the elderly be usually associated with legs and feet it is inconvenient or
It is disabled.
Wheelchair has huge as the walking-replacing tool of the elderly, lower limb disabled and lower extremity motor function compared with weak person
Social demand.
At present, more than 90% routine use wheelchair is spoke to be pushed to realize movement by both hands.Hand push be easy to cause hand
Wheelchair user's upper limb damages in various degree, particularly shoulder and wrist area.Moreover, on most of elderly and the disabled
Limb strength is insufficient, and needing, which increases additional nursing staff, helps its traveling.For this problem, electric wheelchair is had devised.But
Mostly using four-wheel wheelchair, wheelchair turns to and inconvenient to carry electric wheelchair.
Invention content
The object of the present invention is to provide a dynamic balancing electric wheelchair, can overcome the above-mentioned prior art certain or it is certain
Problem.
According to an aspect of the invention, there is provided a kind of dynamic balancing electric wheelchair, including：
Wheelchair frame, forms the main part of electric wheelchair, and wheelchair frame includes seat, helping at left and right sides of seat
Hand, the backrest on rear side of seat and the foot pedal being rotatably fixed at seat lower end, handrail, backrest and foot pedal difference
It is connect in a rotating manner with seat；
Single-wheel, the single-wheel are connect by telescoping shoring column with wheelchair frame, and motor and brake gear are provided in the single-wheel；
And
Control system, control system include joystick, power-assist order button, self-balancing circuit control panel and microcontroller,
It is controlled for the driving mode to electric wheelchair, wherein, joystick is arranged on handrail, and power-assist order button is arranged on
At the hand-pushing handle being connect with backrest, self-balancing circuit control panel is arranged in single-wheel, and microcontroller is arranged at joystick,
Wherein, control system is controlled by two kinds of control modes, including joystick control mode and body gesture
Control mode, wherein joystick control mode realize that body gesture control mode passes through self-balancing electricity by joystick
Road control panel is realized.
According to the present invention, only by a dynamic balancing wheel as power wheel, the bodily form is compact, easy to carry, and two kinds of controls
Intention assessment, such as wheelchair straight trip, retrogressing, turning, braking, automatic obstacle-avoiding can be achieved in mode processed, therefore with convenient for intelligent
, there is wide market application foreground in the advantages that control.
According to embodiment of the present invention, joystick includes order button and push rod, order button and push rod point
Command information is not inputted to microcontroller by pressure sensor and mechanics sensor, to realize the advance of electric wheelchair, turning, add
Deceleration and parking function.Joystick further includes height adjusting button, by the pressure sensor at the height adjusting button to
Microcontroller transmits command signal, being drivingly connected the telescoping shoring column of wheelchair frame and single-wheel, changes by adjusting telescoping shoring column
Become the whole height of wheelchair.By these embodiments, it is capable of the traveling of the electric wheelchair for user-friendly control and carries out appearance
State adjusts.
According to embodiment of the present invention, telescoping shoring column be U-shaped telescoping shoring column, the U-shaped telescoping shoring column packet
Include inverted U-shaped connecting rod, the telescopic rod fixed to U-shaped connecting rod top and and the supporting sleeve positioned at telescopic rod top,
In U-shaped connecting rod and single-wheel rotation connection and supporting sleeve telescoping shoring column is fixedly connected with seat support as U-shaped scalable branch
Frame, the U-shaped telescoping shoring column include inverted U-shaped connecting rod, the telescopic rod fixed to U-shaped connecting rod top and and positioned at stretching
The supporting sleeve on contracting bar top, wherein U-shaped connecting rod is fixedly connected with single-wheel rotation connection and supporting sleeve with seat support.By
The embodiment can easily adjust the height of electric wheelchair, and simple in structure.In addition, U-shaped telescoping shoring column is using whole
Body manufactures, and reduces component defect, increases intensity, improves service life.
In another embodiment of the present invention, self-balancing circuit board is arranged in single-wheel, and is believed including posture
Number sensor, reversible pendulum system and drive module, attitude signal sensor are used to measure the attitude parameter of electric wheelchair, and will
The attitude parameter of measured electric wheelchair is input to reversible pendulum system, and reversible pendulum system is joined by establishing the posture of electric wheelchair
Relationship between number and motor output torque calculates vehicle body attitude controlled quentity controlled variable, and control information is passed to drive module,
The self-balancing and traveling to realize electric wheelchair are rotated by drive module driving motor.The self-balancing circuit set by doing so
Plate can be measured accurately and calculate the posture of wheelchair and conveniently control it.
According to another embodiment, attitude signal sensor includes gyroscope and accelerometer, for measuring electric wheelchair
Attitude parameter, attitude parameter include pitch angle and rate of pitch, that is, electric wheelchair relative to the electric wheelchair symmetry axis
Tilt forward and back angle and tilt angular speed.According to the embodiment, production cost can be reduced on the basis of accurate measure.
In addition, power-assist order button is arranged on the hand-pushing handle for being connected to backrest, power-assist order button passes through pressure sensing
Device transmits command signal to microcontroller, to judge that wheelchair will select hand push and assist mode to advance, and pass through driving motor reality
Existing power-assist.Power-assist order button is set by doing so, it can be by operator's button easy to operate of promotion wheelchair.
According to another embodiment, backrest can be drawn close by rotation axis with seat to be merged, and in seat and backrest
Centre is respectively arranged with telescopic rod, can be by the telescopic rod pressure among seat and backrest by the left and right ends for compressing seat
It is reduced to the shortest distance.Wheelchair frame can fold wheelchair by more than structure, consequently facilitating carrying, ensure trip side
Just, operating range farther out when, wheelchair can by fold carry, can easily be placed in automobile trunk.
In addition, connecting auxiliary frame below the fixation wheel shaft of single-wheel, auxiliary wheel group, auxiliary wheel group are installed on auxiliary frame
Lower edge be higher than single-wheel lower edge.By the embodiment, make auxiliary wheel group in the electric wheelchair normal driving process
It does not land, ensures good steering characteristic.The auxiliary wheel group can assist in keeping balance when wheelchair stops, and be run in wheelchair
It can be to avoid leaning forward or swinging back, to ensure the safety of wheelchair when upward slope or descending are encountered in journey.
Preferably, the main body of auxiliary stand is arc-shaped, and the radian of curved body is for example between 100 ° to 150 °, arc length master
The length of body can for example have the damping effect of enhancing in 450mm to the curved body between 600mm, being so designed that.
The support section of wheelchair frame is made of titanium alloy.The wheelchair frame and connector are using density is low, specific strength is high
Titanium alloy, the selection of material combine the portability for ensureing the wheelchair with the telescopic folding feature of structure, are disabled person
Trip provides facility.In short, the present invention proposes that one kind, as power wheel, outer indoors can freely be moved only by a dynamic balancing wheel
Dynamic, the bodily form is compact, and turning is convenient, foldable cellular single-wheel dynamic balancing electric wheelchair, goes out easy to carry, control mode spirit
It is living, the traveling of various ways control electric wheelchair can be used.
The Collapsible mobile single-wheel dynamic balancing electric wheelchair of the intelligent power-assist of the present invention.Power driving mode includes 1 hand
Push away+electric boosted and two kinds of 2 pure motor driving patterns.Control mode includes joystick and body gesture controls two kinds, has
Intention assessment function.Wheelchair configuration design hommization, meets human anatomy feature, and pressure distribution is reasonable.Operating range is farther out
When, wheelchair can be carried by folding, and can be easily placed in automobile trunk.
Unless apparent contradict, the feature involved by different embodiments of the invention can be combined with each other.
Description of the drawings
Fig. 1 is the structure diagram of the Collapsible mobile single-wheel dynamic balancing electric wheelchair of the present invention：
Fig. 2 is the internal structure schematic diagram of the single-wheel of the single-wheel dynamic balancing electric wheelchair shown in Fig. 1：
Fig. 3 is sectional view of the single-wheel shown in Fig. 2 after wheel cap is mounted with；
Fig. 4 is the schematic diagram of the telescoping shoring column of the single-wheel dynamic balancing electric wheelchair shown in Fig. 1；
Fig. 5 is the schematic diagram of the wheelchair frame of the single-wheel dynamic balancing electric wheelchair shown in Fig. 1；
Fig. 6 is the work block diagram of the control system of the single-wheel dynamic balancing electric wheelchair of the present invention；
Fig. 7 is that the signal of the self-balancing circuit control panel shown in Fig. 1 transmits schematic diagram；And
Fig. 8 is the electrical system architecture principle of the self-balancing circuit control panel shown in Fig. 1.
Specific embodiment
Detailed description of the present invention Collapsible mobile single-wheel dynamic balancing electric wheelchair below in conjunction with the accompanying drawings.Art technology
Personnel should be appreciated that the embodiments described below is only the exemplary illustration to the present invention, not for making any limit to it
System.
The present invention is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, single-wheel dynamic balancing electric wheelchair includes：Single-wheel 1, telescoping shoring column 2 and wheelchair frame 3.Single-wheel 1 passes through
Telescoping shoring column 2 is connect with wheelchair frame 3.Single-wheel 1 is connected by rolling bearing with telescoping shoring column 2, rolling bearing be mounted on
In the fixing axle of telescoping shoring column, telescoping shoring column 2 is fixedly connected by welding with wheelchair frame 3 and can stretch up and down.
Wheelchair frame 3 includes seat 4, handrail 5, backrest 6, the hand-pushing handle 7 being connect with backrest 6 and foot pedal 8.Seat 4 wraps
Cushion and seat support 20 (referring to Fig. 5) are included, cushion is covered on seat support 20.It is equipped with and helps in the left and right sides of seat 4
Hand 5, handrail are in substantially T-shaped, and column lower end is connect with seat 4, and the upper end of the column is connect with crossbeam.In right armrest 5
Crossbeam front end is equipped with Intelligent control handle 9 by screw connection, and handrail 5 is hollow structure, and inside is controlled for accommodating with intelligence
The cable that handle 9 processed connects, the other end of cable are connected with control system mainboard.Backrest 6 is located at 4 rear side of seat and including leaning on
Pad and back bracket 19 (referring to Fig. 5), back cushion are covered in back bracket 19.Foot pedal 8 is located at 4 front side of seat and including stepping on
Plate and pedal support 21, pedal are fixed on 21 lower end of pedal support.Handrail 5, backrest 6, hand-pushing handle 7 and foot pedal 8 are by turning
Moving axis is connect with seat support 20.
The electric wheelchair further includes auxiliary wheel group 10, auxiliary stand 11, battery pack 12, self-balancing circuit control panel 13, electricity
Magnetic brake brake 14 and driving motor 15.
Auxiliary wheel group 10, the auxiliary wheel branch that auxiliary wheel group 10 passes through the right and left are installed on the both sides of the single-wheel 1 of wheelchair
Frame 11 and the fast pulley axis connection of single-wheel 1, auxiliary wheel group 10 are installed on the rear and front end of auxiliary stand 11, auxiliary stand 11
Main body is curved metal item, the curved metal both ends respectively installation there are one auxiliary wheel, auxiliary stand 11 by the middle part of main body to
The connecting rod of upper extension is connected with telescoping shoring column 2, which can provide higher support strength, and have centainly
Damping effect.The radian of curved body is for example between 100 ° to 150 °, and the length of arc length main body is for example in 450mm to 600mm
Between, the curved body being so designed that can have the damping effect of enhancing.Preferably, the lower edge of auxiliary wheel group 10 is higher than single
The lower edge of wheel 1, can make auxiliary wheel group 10 not land in the normal driving process of the electric wheelchair in this way, good so as to ensure
Good steering characteristic.Auxiliary wheel group 10 can help single-wheel electric wheelchair to keep balance in parking, encounter in the process of moving
It goes up a slope or can be to avoid leaning forward or hypsokinesis, to ensure the safety of wheelchair during descending.
Battery pack 12 is respectively arranged in the both sides of the U-shaped connecting rod 16 of telescoping shoring column 2, and sets charge port, the design
In battery using having the advantages that lithium battery small, that capacity is big.Driving motor 15 and electromagnetic brake brake 14 respectively with
Battery pack 12 connects, and the self-balancing circuit control panel 13 in microcontroller ECU and single-wheel at control crank 9 has stand-alone integrated electricity
Source power supply carrys out acquisition signal and controls driving motor 15 and electromagnetic brake brake 14.
As shown in Figure 2,3, driving motor 15, electromagnetic brake brake 14 and the control of self-balancing circuit are installed in single-wheel 1
Plate 13.Wherein driving motor 15 uses middle, is co-axially mounted with electromagnetic brake brake 14, driving motor 15 receives ECU
Just start the rotation according to order request progress different rotating speeds, after ECU sends out braking commands, electromagnetic brake after work order
Brake 14 is started to work, and single-wheel is made to slow down or stop.Self-balancing circuit control panel 13 (does not show including attitude signal sensor
Go out), reversible pendulum system (not shown) and drive module (not shown), be fixed in single-wheel 1 by screw connection.
As shown in figure 4, telescoping shoring column 2 includes U-shaped connecting rod 16, telescopic rod 17 and supporting sleeve 18.U-shaped connecting rod 16 is logical
The fast pulley axis connection of bolt and single-wheel 1 is crossed, telescopic rod 17 is connect with supporting sleeve 18, and supporting sleeve 18 is fixedly connected with wheelchair frame 3.
U-shaped connecting rod 16 and telescopic rod 17 are manufactured using whole, 18 connection of U-shaped connecting rod 16 and supporting sleeve set, are installed in telescopic rod 17
There is motor, the whole height of wheelchair is adjusted by changing the relative position of supporting sleeve 18 and telescopic rod 17.By selecting intelligence
Wheelchair height adjusting button at joystick 9, microcontroller ECU receive the order letter that the pressure sensor under its button is transmitted
Number, and the motor at telescopic rod 17 is driven to adjust the length of telescopic rod 17 to change the whole height of wheelchair.
As shown in figure 5, handrail 5 is made of armrest support 23 and balustrade panel 24.The front and back end of seat support 20 connects respectively
There are pedal support 21 and back bracket 19.Pedal is respectively arranged on left and right pedal support 21.Armrest support 23, pedal support 21
An entirety is formed using rotation axis connection between back bracket 19 and seat, to be folded.
Seat support 20 and back bracket 19 include multiple transversal stretching bars 22, and the both ends of the transversal stretching bar 22 are distinguished
It is connect with longitudinally connected bar, which is formed by three sections, and the intermediate lateral telescopic rod 22 of wherein seat support 20 is fixed on
On the supporting sleeve 18 of telescoping shoring column 2, when carrying out left and right compression to wheelchair frame 3, during the bars of left and right ends can be compressed to
Between in bar, to realize the folding functional of wheelchair.
The size of wheel-chair, the distance of height and foot pedal including seat width, the depth and backrest to seat surface according to
Ergonomics size design, while consider human anatomy feature, 6 moulding of backrest meets the physiological bending of human spine, body
Pressure is reasonably distributed.
Present invention tool is there are two types of power driving mode, including hand push and electric boosted pattern and pure motor driving pattern.
Power driving mode is realized by control system.The work block diagram of control system is as shown in Figure 6.Control system includes position
The power-assist order button at Intelligent control handle 9, hand-pushing handle 7, self-balancing circuit control panel 13 in arm rest and mounted on intelligence
Microcontroller ECU at energy joystick 9.There is order button and pusher button, ECU is by connecing wherein on Intelligent control handle 9
The specific instructions of its selection are judged by the information of the mechanics sensor at the pressure sensor and push rod under order button, it can be real
Existing acceleration and deceleration, brake, steering, straight trip, reversing and adjusting of wheelchair height etc..When pressing the power-assist order button on hand-pushing handle 7
When, ECU receives the command signal that the pressure sensor under its button is transmitted, and judges that electric wheelchair will select hand push+power-assist
Pattern is advanced.And power-assist is realized according to the mechanical information driving motor that the mechanics sensor in hand-pushing handle 7 provides, driving is electric at this time
The electric power output of machine is less than nominal output values.
Pure motor driving pattern includes the driving motor, electromagnetic brake system and self-balancing circuit by being set in single-wheel
Control panel and two kinds of control modes in wheelchair driving process are realized with reference to the Intelligent control handle on vehicle frame handrail：It manipulates
Handle control mode；And body gesture control mode.Both control modes can be achieved intention assessment, as wheelchair straight trip,
Retrogressing, turning, braking, automatic obstacle-avoiding etc..
By manipulate the right handrail on Intelligent control handle 9 push rod and order button can realize wheelchair advance,
The normal usage functions such as turning, acceleration and deceleration, parking.When sending out parking order, the electromagnetic brake brake that is installed in single-wheel
It starts to work, ensures that wheelchair realizes steady parking in certain distance.
Body posture control mode is mainly realized by self-balancing circuit control panel 13, is fixed in single-wheel 1, by appearance
State signal transducer, reversible pendulum system and drive module composition.Attitude signal sensor includes accelerometer and gyroscope etc., main
It is used to monitor the pitch angle and pitch angle of electric wheelchair, i.e. wheelchair tilting forward and back angle and inclining relative to symmetry axis in real time
Oblique angle speed.Attitude detecting sensor detects the angle and angular velocity information of car body in real time.By attitude information input inverted pendulum system
In system, controlled quentity controlled variable is calculated after understanding and filter by data, and passes through pose compensation of the drive module to realization wheelchair.Ginseng
Examine self-balancing circuit control panel signal transmission figure 7, Fig. 8.
The wheelchair attitude information that the input of reversible pendulum system is provided by attitude signal sensor, and pass through and control accordingly
Algorithm calculates vehicle body attitude controlled quentity controlled variable, and control information is passed to drive module, and motor rotation is realized solely in drive hub
Take turns the self-balancing of wheelchair and manned advance.Reversible pendulum system is an important branch of control system and typical application, can be with
Be understood as under control of the computer, analyzing in real time by the various state parameters to system, make system in the horizontal direction or
The offset of displacement and angle (angular speed) in vertical direction is controlled within the scope of permission, so as to which system be made to keep flat
Weighing apparatus.When operator's posture changes, the inclination angle theta information of the attitude signal sensor sensing car body on wheelchair is fed back to down
Vertical oscillator system, after analysis, driving motor generates equidirectional driving force, it is made to generate acceleration a, and ensure a=gtan θ (g
For acceleration of gravity).On this basis, electric single-wheel wheelchair drives by motor, using gyroscope, accelerometer and inverted pendulum control
Circuit holding processed is not fallen, and operator can start body forward inclination, and speed is controlled by the inclined degree of body
, it is desirable to acceleration then turns forward, it is desirable to which deceleration then retreats.
As a kind of foldable cellular Zhi Pingheng electric wheelchairs, the supporting structure that the present invention designs can stretch
And folding.The whole height of wheelchair is reduced by the telescopic of telescoping shoring column, when telescoping shoring column be reduced to most in short-term, should
The height of electric wheelchair is minimum.Using modularized design, wheelchair can be removed rapidly cushion and backrest above seat when folding
Come, the seat can be realized laterally folded.The back bracket of wheelchair frame can be leaned on by the rotation axis of connection with seat support
Hold together to merge, foot-operated board mount can be rotatably fixed to the lower end of seat support, finally by compression wheelchair left and right ends by seat
Telescopic rod among stent and back bracket is compressed to the shortest distance.Make wheelchair easy to carry by more than structure, ensure trip
It is convenient.
The present invention fully considers the comfort of wheelchair user.The main portions that seating wheel-chair person bears weight are buttocks
Around ischial tuberosity, around Lumbar and shoulder blade.The size of wheel-chair, height including seat width, the depth and backrest and
Foot pedal to seat surface distance according to ergonomics size design, while consider human anatomy feature, backrest moulding meets
The physiological bending of human spine, pressure distribution are reasonable.
The wheelchair support construction of the present invention is mainly using the titanium alloy that density is low, specific strength is high, corrosion resistance is good, to protect
Demonstrate,prove the lightweight of structure.The present invention uses light-weighted design preferably to meet portability demand.Heretofore described stent
The selection of material is titanium alloy, and the specific strength of titanium alloy will not corrode substantially higher than aluminium under general environment, not need to volume
Outer anti-corrosion treatment.The major advantage of titanium ratch chair is secured, light weight, comfortable, beautiful, service life is long.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of dynamic balancing electric wheelchair, including：
Wheelchair frame, forms the main part of electric wheelchair, and wheelchair frame includes seat, the handrail at left and right sides of seat, position
Backrest on rear side of seat and the foot pedal being rotatably fixed at seat lower end, handrail, backrest and foot pedal respectively with seat
Chair connects in a rotating manner；
Single-wheel, the single-wheel are connect by telescoping shoring column with wheelchair frame, and motor and brake gear are provided in the single-wheel；And
Control system, control system include joystick, power-assist order button, self-balancing circuit control panel and microcontroller, are used for
The driving mode of electric wheelchair is controlled, wherein, joystick is arranged on handrail, and power-assist order button is arranged on and leans on
At the hand-pushing handle for carrying on the back connection, self-balancing circuit control panel is arranged in single-wheel, and microcontroller is arranged at joystick,
Wherein, control system is controlled by two kinds of control modes, is controlled including joystick control mode and body gesture
Mode, wherein joystick control mode realize that body gesture control mode passes through self-balancing circuit control by joystick
Making sheet is realized.
2. dynamic balancing electric wheelchair according to claim 1, wherein, joystick includes order button and push rod, order
Button and push rod input command information by pressure sensor and mechanics sensor to microcontroller respectively, to realize electric wheelchair
Advance, turning, acceleration and deceleration and parking function.
3. dynamic balancing electric wheelchair according to claim 2, wherein, joystick further includes height adjusting button, passes through
Pressure sensor at the height adjusting button transmits command signal to microcontroller, to be drivingly connected stretching for wheelchair frame and single-wheel
Contracting stent changes the whole height of wheelchair by adjusting telescoping shoring column.
4. dynamic balancing electric wheelchair according to claim 3, wherein, telescoping shoring column is U-shaped telescoping shoring column, this is U-shaped
Telescoping shoring column includes inverted U-shaped connecting rod, the telescopic rod fixed to U-shaped connecting rod top and positioned at telescopic rod top
Supporting sleeve, wherein U-shaped connecting rod is fixedly connected with single-wheel rotation connection and supporting sleeve with seat support.
5. dynamic balancing electric wheelchair according to claim 1, wherein, self-balancing circuit board is arranged in single-wheel, and is wrapped
Attitude signal sensor, reversible pendulum system and drive module are included, attitude signal sensor is used to measure the posture ginseng of electric wheelchair
Number, and the attitude parameter of measured electric wheelchair is input to reversible pendulum system, reversible pendulum system is by establishing Electric Motor Wheel
Relationship between the attitude parameter and motor output torque of chair calculates vehicle body attitude controlled quentity controlled variable, and control information is transmitted
To drive module, self-balancing and traveling to realize electric wheelchair are rotated by drive module driving motor.
6. dynamic balancing electric wheelchair according to claim 5, wherein, attitude signal sensor includes gyroscope and acceleration
Meter, for measuring the attitude parameter of electric wheelchair, attitude parameter includes pitch angle and rate of pitch, that is, electric wheelchair is opposite
In the electric wheelchair symmetry axis tilt forward and back angle and tilt angular speed.
7. dynamic balancing electric wheelchair according to claim 1, wherein, power-assist order button is arranged on the hand for being connected to backrest
On handle, power-assist order button by pressure sensor to microcontroller transmit command signal, come judge wheelchair will select hand push and
Assist mode is advanced, and realizes power-assist by driving motor.
8. dynamic balancing electric wheelchair according to claim 1, wherein, backrest can draw close conjunction by rotation axis with seat
And and be respectively arranged with telescopic rod in the centre of seat and backrest, it can be by seat by the left and right ends for compressing seat
The shortest distance is compressed to the telescopic rod among backrest.
9. dynamic balancing electric wheelchair according to claim 1, wherein, auxiliary frame is connected below the fixation wheel shaft of single-wheel,
Auxiliary wheel group is installed on auxiliary frame, the lower edge of auxiliary wheel group is higher than the lower edge of single-wheel.
10. dynamic balancing electric wheelchair according to claim 1, wherein, the support section of wheelchair frame is made of titanium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610956385.8A CN106420202B (en) | 2016-11-03 | 2016-11-03 | Dynamic balancing electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610956385.8A CN106420202B (en) | 2016-11-03 | 2016-11-03 | Dynamic balancing electric wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106420202A CN106420202A (en) | 2017-02-22 |
| CN106420202B true CN106420202B (en) | 2018-06-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610956385.8A Active CN106420202B (en) | 2016-11-03 | 2016-11-03 | Dynamic balancing electric wheelchair |
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| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| TWI658824B (en) * | 2017-12-26 | 2019-05-11 | 嘉藥學校財團法人嘉南藥理大學 | Electric wheelchair |
| CN108454753B (en) * | 2018-01-24 | 2020-04-14 | 纳恩博（北京）科技有限公司 | Electric bicycle |
| 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 |
| CN109498382A (en) * | 2019-01-18 | 2019-03-22 | 卢德华 | Elbow arm support facilitates travelling aided bicycle |
| US11628105B2 (en) | 2020-06-25 | 2023-04-18 | Toyota Motor North America, Inc. | Powered wheelchairs and methods for maintaining a powered wheelchair in a pre-selected position |
| CN111789683A (en) * | 2020-08-07 | 2020-10-20 | 中国人民解放军联勤保障部队第九0四医院 | Somatosensory control protective chair for interventional therapy |
| CN112426289B (en) * | 2020-10-28 | 2023-05-12 | 北京工业大学 | Intelligent wheelchair for helping old people and disabled people |
| CN112587325A (en) * | 2020-12-09 | 2021-04-02 | 合肥工业大学 | Intelligent obstacle avoidance self-balancing wheelchair and control system thereof |
| CN113548407B (en) * | 2021-08-16 | 2022-05-17 | 吉林大学 | Tumbler type single-wheel rice field transportation system |
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