CN1070045C - 膂力驱动的轮式车辆 - Google Patents

膂力驱动的轮式车辆 Download PDF

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CN1070045C
CN1070045C CN98105972A CN98105972A CN1070045C CN 1070045 C CN1070045 C CN 1070045C CN 98105972 A CN98105972 A CN 98105972A CN 98105972 A CN98105972 A CN 98105972A CN 1070045 C CN1070045 C CN 1070045C
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马丁·普什
卡尔－海因茨·克林格比尔
托马斯·布伦德尔
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Otto Bock Orthopadische Industrie KG
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Abstract

一种具有至少一个驱动轮(1)的膂力驱动的轮式车辆，为了改进这种车辆的结构和控制，根据本发明建议以下特征：
a)车轮紧固机构(4)围绕出一个同心环绕其轮毂部段(4a)的圆环形空间(8)，在此圆环形空间内装有电动机控制机构(9)以及一个蓄电池(10)和/或电池；b)转子(12，14)支承在车轮紧固机构(4)径向靠外的外周上；c)驱动轮(1)配有一个手动轮(7)；d)一个用于测量用手输入手动轮(7)中的转矩的转矩传感器将数据输给电动机控制机构(9)。

Description

膂力驱动的轮式车辆
本发明涉及一种具有至少一个驱动轮的膂力驱动的轮式车辆、特别是轮椅，一个无传动机构的外转子电动机与此驱动轮装配成一个整体，所述外转子电动机安装在一个固定的车轮紧固机构和转动的轮机构元件之间并可通过控制机构控制此外转子电动机以便输出附加转矩。在车轮紧固机构的外周上装有外转子电动机的定子，而通过球轴承支承在车轮紧固机构上的外转子电动机的转子与转动的轮机构单元相连。
这样的实施形式可取自DE9422016U1。这篇文献公开了一种最初通过人力或畜力驱动特别是牵引或推动的可移动装置的电动辅助传动机构。外转子电动机的定子安装在固定的车轮紧固机构的轮缘上，而转动的轮机构元件可转动地直接设置在车轮紧固机构的轴套上。可转动的轮部具有一个环绕上述轮缘的全封闭外罩，在此外罩的内侧上支承有外转子磁铁而在其端面上与罐状外部件螺接，所述外部件在其端面以及其外周上围住上述外罩并在其外周上支承一个弹性轮胎。三相同步电动机作为辅助传动机构。车轮轴被设计成拉长的盒式结构且其中装有电池。轮也可以配有组装在内的电动机以及自身的组装在内的电池以及所属控制机构。轮安置在轴端上，可借助防转的插塞连接结构固定所述轮。所述插塞连接结构与引入控制电路、供电电路等用的插塞连接结构相连。首先，为转矩传感器设置了应变计(电阻应变片)。在这种情况下，辅助传动机构首先被设计用于一个用手牵引的高尔夫车。
本发明的目的尤其在于在其结构和控制方面改进本文前言部分所述类型的轮式车辆。
在上述轮式车辆的基础上，按照本发明，通过以下特征实现上述目的：
a)车轮紧固机构围住一个同心环绕其轮毂部段的圆环形空间，在此圆环形空间内装有上述电动机控制机构以及一个蓄电池和/或电池；
b)转子支承在径向靠外的车轮紧固机构外周上；
c)驱动轮配有一个手动轮；
d)一个用于测量用手输入手动轮中转矩的转矩传感器将数据输入所述电动机控制机构。
在第一实施形式中，转矩传感器具有两个同轴的但以相同间距相对安置的圆环片，此圆环片具有宽度相同的且受与轴平行的光束照射的明暗扇形区，此圆环片通过扭簧与手动轮或转子外壳环彼此相连。此处，作为模拟信号的光束衰减是控制外转子电动机的指令变量。
在一个变型实施形式中，较适宜的是：手动轮通过板簧片与一个螺栓相连，该螺栓可相对一自动同步发送机旋转地支承在转动的轮机构元件中的一个上，最好是在轮圈上，该自动同步发送机把用手将转矩输入手动轮所造成的螺栓转动转换为电信号，所述电信号被输给电动机控制机构。
在另一个变型实施形式中，有利的是：手动轮通过板簧片与一个轴相连，轴可旋转地支承在转动的轮机构元件中的一个上、且最好是在轮圈上，该轴还与一行程环运动耦合，使得用手将转矩输入手动轮所造成的轴转动使行程环平行于轮轴地且相对于一个轮的非旋转部件，最好是一径向固定在车轮紧固机构外面的传感器移动，所述传感器将行程环的行程转换为一电信号，所述电信号被输给电动机控制机构。
驱动轮最好只通过一个快速离合器与车底盘机械连接，因此它无需电连接。
由于根据本发明径向向外地设置球轴承，所以减小了转动质量以及扩大了朝端面开口的、容纳蓄电池和电控元件以及转矩传感器的安装空间。
由于采用了有效转矩高而转速低的变流电动机，所以可以省去变速传动机构。由此车轮可低摩擦地空转。电动机只在加速或制动阶段内受到控制。在电子装置失灵或蓄电池无电时，该轮式车辆可如常规手动轮椅那样使用。
转矩传感器的模拟信号是控制电动机的指令变量，在微处理器基础上的控制机构用传感器测量转子相对定子的位置。通过电功率驱动器并以一定的方式使定子磁场与转子位置匹配，从而产生相应的车轮加速转矩或车轮制动转矩。可通过适当的电子错接方式利用制动时所产生的部分能量对蓄电池充电。转矩增加量可通过驾车人的调节来确定。
最好采用可更换式蓄电池，它由镍/镉或金属/氢电池组合而成。可以形状匹配地设计蓄电池罩，从而利用可供使用体积而获得较高的容量。为了在更换蓄电池时简化更换操作，为此设有一个快速离合器。为了指示蓄电池的电能容量，在蓄电池中最好成一体地装有一个相应的指示器。
在转矩传感器的第一实施形式中，本发明的测量原理基于光束衰减。待测转矩致使所述两个通过扭转弹性连接机构相连的圆环片略微转动。通过明暗扇形区的重叠，在扇形宽度范围内的光衰减与圆环片相互之间的转角成正比。也可非接触地探测转矩，其中在固定的电子仪器上的传感器即便在轮转动时也测量转矩。在这种情况下，无需通过易受干扰的滑环把转动环的电信号传给固定的电子仪器。
转矩传感器的另两个选择方案具有用于传递转矩的稳定的运动学关系，并因此特别不易受到干扰。
本发明的其它优点可从对实施例的描述中得到。
在图中示出了三个作为实施例的本发明实施形式，其中：
图1为轮椅的右后驱动轮的垂直剖面图；
图2为以立体分解图的形式采用比图1缩小的比例示出的转矩传感器的机械部件；
图3为以透视图形式并以比图2增大的比例示出的图2的局部“A”；
图4是以如图1的视图示出的在转矩传感器方面有所不同的实施形式；
图5是以如图4的视图示出的针对转矩传感器又有所改动的实施形式。
图1示出了一个驱动轮1，此驱动轮只通过一个快速离合器2与一个未进一步示出的轮式车辆、特别是轮椅的底盘3机械连接。固定的车轮紧固机构4通过防转装置19相对于车架3不会旋转。一个无传动机构的外转子电动机与驱动轮1组装成一体，该电动机安装在固定的车轮紧固机构4和转动的机构元件之间。所述机构元件包括一个带有装入的充气轮胎6的轮圈5和一个用手输入转矩的手动轮7。
固定的车轮紧固机构4围住一个同心环绕车轮紧固机构4的轮毂部段4a的圆环形空间8，在此圆环形空间内装有一个外转子电动机的控制机构9以及一个作为外转子电动机动力源的蓄电池10。在车轮紧固机构4径向靠外地隔断圆环形空间8的壁部上固定有带定子绕组的外转子电动机的定子11。此外，在靠外的车轮紧固机构4外周上支承有一个搭接定子11的转子外壳环12。此外壳环通过一个球轴承13支承在车轮紧固机构4的桥接环片上并在其内侧支承有外转子磁铁14。所述磁铁在形成一条狭窄气隙的情况下位于定子11的定子绕组的对面。
转子外壳环12在其与外转子磁铁14相对的外侧上具有一个随转子外壳环12转动的轮机构元件5、6、7。
一个用于检测用手输入手动轮7转矩的转矩光学传感器将信号输给控制机构9。该转矩传感器具有两个同轴但彼此轴向间隔地安装的圆环片15，这两个圆环片具有宽度相同的且受与轴平行的光束16照射的明暗扇形区17并通过一扭簧18与手动轮7或转子外壳环12彼此相连。在这种情况下，作为模拟信号的光束衰减是控制外转子电动机的指令变量。
在图4所示的变型实施形式中，手动轮7通过板簧片20与螺栓21相连，此螺栓在轮圈5中可绕一个垂直于轮轴的螺栓轴相对于一个自动同步发送机22转动地设置。后者把因用手将转矩输入手动轮7而造成的螺栓转动转换为电信号，所述电信号被输入电动机控制机构9中。在这种情况下，螺栓21的转动取决于输入转矩的大小和板簧片20的弹性常数。由自动同步发送机22产生的信号可通过光学手段或通过无线电从转动的轮部件传递给在不转动轮部件中的电动机控制机构9。
在图5所示的实施形式中，手动轮7通过板簧片20与轴23相连。轴23可转动地支承在轮圈5中，并与一行程环24运动耦合，使得用手将转矩输入手动轮7而造成的轴23转动使行程环24平行于轮轴地移动，而且相对于一个径向靠外地固定在车轮紧固机构4上的传感器25而移动。后者将行程环24的行程转换成电信号，所述电信号被输入电动机控制机构9中。
垂直于轮轴的轴23与行程环24的运动联结是通过一个垂直铰接在轴23上的杆26实现的，一根连杆27与此杆26的外端转动地连接，所述连杆的另一端与上述行程环24相连。

Claims (5)

1．一种具有至少一个驱动轮(1)的膂力驱动的轮式车辆、特别是轮椅，一个无传动机构的外转子电动机(11,12,14)与此驱动轮组装成一体，所述外转子电动机安装在一个固定的车轮紧固机构(4)和转动的轮机构元件(5,6,7)之间并可通过控制机构(9)控制此外转子电动机以便输出附加转矩，其中在车轮紧固机构(4)的外周上装有外转子电动机(11,12,14)的定子(11)，而通过球轴承(13)支承在车轮紧固机构(4)上的外转子电动机(11,12,14)的转子(12,14)与转动的轮机构元件(5,6,7)相连，其特征在于，
a)车轮紧固机构(4)围绕着一个同心环绕其轮毂部段(4a)的圆环形空间(8)，在此圆环形空间内装有所述电动机控制机构(9)以及一个蓄电池(10)和/或电池；
b)转子(12,14)支承在车轮紧固机构(4)径向靠外的外周上；
c)驱动轮(1)配有一个手动轮(7)；
d)一个用于测量用手输入手动轮(7)中的转矩的转矩传感器(15,16,17；20,21,22；23,24,25)向电动机控制机构(9)传输信号。
2．如权利要求1所述的轮式车辆，其特征在于，转矩传感器(15,16,17)具有两个同轴但以相同间距相对设置的圆环片(15)，此圆环片具有宽度相同的且受与轴平行的光束(16)照射的明暗扇形区(17)，此圆环片通过扭簧(18)与手动轮(7)或转子外壳环(12)彼此相连，在此，作为模拟信号的光束衰减是控制外转子电动机(11,12,14)的指令变量。
3．如权利要求1所述的轮式车辆，其特征在于，手动轮(7)通过板簧片(20)与一螺栓(21)相连，此螺栓可相对一自动同步发送机(22)旋转地支承在转动的轮机构元件(5)中的一个，最好是在轮圈(5)上，所述自动同步发送机把因用手将转矩输入手动轮(7)而造成的螺栓转动转换为电信号，所述电信号被输给电动机的控制机构(9)。
4．如权利要求1所述的轮式车辆，其特征在于，手动轮(7)通过板簧片(20)与一个轴(23)相连，轴(23)可转动地支承在转动的轮机构元件(5,6,7)中的一个中、最好是在轮圈(5)中，所述轴(23)与行程环(24)运动联结，使得用手将转矩输入手动轮(7)所造成的轴(23)转动使行程环(24)平行于轮轴地且相对于一个不转动轮部件、最好是径向靠外地固定在车轮紧固机构(4)上的传感器(25)而移动，所述传感器将行程环(24)的行程转变为一电信号，所述电信号被输入电动机控制机构(9)。
5．如上述任一项权利要求所述的轮式车辆，其特征在于，驱动轮(1)或其固定的车轮紧固机构(4)只通过一个快速离合器(2)与车底盘(3)机械连接。
CN98105972A 1997-02-28 1998-02-27 膂力驱动的轮式车辆 Expired - Fee Related CN1070045C (zh)

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DE19708058A DE19708058A1 (de) 1997-02-28 1997-02-28 Muskelbetriebenes Radfahrzeug

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AU5943198A (en) 1998-09-03
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