CN107773357A - Intelligent wheel chair - Google Patents
Intelligent wheel chair Download PDFInfo
- Publication number
- CN107773357A CN107773357A CN201711103003.8A CN201711103003A CN107773357A CN 107773357 A CN107773357 A CN 107773357A CN 201711103003 A CN201711103003 A CN 201711103003A CN 107773357 A CN107773357 A CN 107773357A
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- Prior art keywords
- chassis
- intelligent
- front wheel
- wheel carrier
- wheel chair
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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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- 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
- A61G5/1078—Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame
-
- 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
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
-
- 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
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention discloses a kind of intelligent wheel chair, including chassis, the seat being installed on chassis, the front wheel carrier and rear wheel frame for being respectively arranged in chassis rear and front end portion, the extreme end of chassis portion is provided with two first articulated sections and two second articulated sections, the rear wheel frame is provided with two the 3rd articulated sections and two the 4th articulated sections, and two the 3rd articulated section is hinged with two first articulated sections respectively, the one end of two the 4th articulated section respectively with a bolster is hinged, and the other end of two second articulated section respectively with two bolster is hinged.The chassis of intelligent wheel chair of the present invention has damping performance, can improve comfortableness during intelligent wheel chair traveling.
Description
Technical field
The present invention relates to a kind of walking-replacing tool, more particularly to a kind of intelligent wheel chair with damping performance.
Background technology
Wheelchair is made up of parts such as wheelchair frame, wheel, seat cushion and handrails.Mainly as the utensil of patient's physical rehabilitation,
And the walking-replacing tool as limbs the disabled.Wheelchair frame is the frame structure that some steel-pipe weldings form, and wheel passes through wheel shaft
It is assembled in frame structure.When wheelchair is displaced into rough road surface, road surface produces bigger reaction force to wheel, whole
Body stability is poor, easily causes wheelchair frame to pitch, and resulting vibratory sensation directly affects comfortable when user drives
Property.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of intelligent wheel chair with damping performance.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of intelligent wheel chair, including chassis, installation
In the seat on chassis, the front wheel carrier and rear wheel frame in chassis rear and front end portion are respectively arranged in, the extreme end of chassis portion is provided with two
First articulated section and two second articulated sections, the rear wheel frame are provided with two the 3rd articulated sections and two the 4th articulated sections, and described two
Three articulated sections are hinged with two first articulated sections respectively, and the one end of two the 4th articulated section respectively with a bolster is hinged, described
The other end of two second articulated sections respectively with two bolster is hinged.
Had the advantages that compared to prior art：The extreme end of chassis portion of the intelligent wheel chair of the present invention is provided with
Two first articulated sections and two second articulated sections, rear wheel frame are provided with two the 3rd articulated sections and two the 4th articulated sections.By being hinged
Two the 3rd articulated sections and two first articulated sections, rear wheel frame is pivotably connected to be travelled on recessed in extreme end of chassis portion, intelligent wheel chair
During convex uneven road surface, rear wheel frame can be relative to chassis swing.And two by being installed between chassis and rear wheel frame is slow
Stamping, one end of each bolster are articulated with the second articulated section, and the other end is articulated with the 4th articulated section, it is possible to achieve rear wheel frame phase
For the buffering on chassis, be advantageous to rear wheel frame relative to chassis swing, improve damping performance of the chassis relative to ground, and
Improve comfortableness during intelligent wheel chair traveling.
Preferably, the chassis is provided with two cantilevers that raise up, and it is two outstanding that two second articulated section is respectively arranged at this
On arm.
Preferably, battery is installed between two cantilever.
Further, the front wheel carrier is provided with the swing rotating shaft extended along intelligent wheel chair fore-and-aft direction, before the chassis
End set has the swinging bush being engaged with the swing rotating shaft, and the front wheel carrier can swing around the swing rotating shaft.
Preferably, the swinging bush is arranged at the centre position in chassis front end portion；The swing rotating shaft is arranged at front-wheel
The centre position of frame.
Preferably, the front wheel carrier is swingably installed on above or below the chassis, the both ends of the front wheel carrier
The contact position in portion and the chassis is provided with elastic component.
Preferably, the elastic component is spring, and the interspersed bar of the spring is provided through on the chassis；The front-wheel
The through hole for accommodating the interspersed bar upper and lower displacement is provided with frame.
Preferably, the swinging bush is provided with swing limited block；It is provided with the swing rotating shaft with swinging limited block
The swing stopper slot of cooperation.
Further, intelligent wheel chair also includes the control system being installed on chassis；Pacify respectively the both sides of the front wheel carrier
Equipped with directive wheel, driving wheel is installed on the rear wheel frame；It is provided with to manipulate the behaviour that intelligent wheel chair is run on the seat
Control device；The front wheel carrier is provided with steering mechanism and angular transducer；The steering mechanism includes turning to motor, is installed on
Turn to the driving gear on motor, coordinate the driven gear of transmission with driving gear, the steering mechanism is driving two
Directive wheel turns to, and the angular transducer is detecting the rotational angle of the driving gear or driven gear and feed back to described
Control system；The control device, steering motor, angular transducer are connected with the control system signal respectively.
Preferably, the control device is included to control the direction rocking bar that intelligent wheel chair turns to, and direction rocking bar passes through automatic
Resetting means is connected to inside control device.
Brief description of the drawings
Fig. 1 is the front perspective view of intelligent wheel chair of the present invention；
Fig. 2 is the schematic perspective view on chassis in the present invention；
Fig. 3 is that chassis and front wheel carrier disassemble schematic diagram in the present invention；
Fig. 4 is the connection diagram of front wheel carrier and steering mechanism in the present invention；
Fig. 5 is the three-dimensional cutaway view of the line A-A along Fig. 4；
Fig. 6 is the schematic perspective view that connecting plate is turned in the present invention；
Fig. 7 is the schematic perspective view of rear wheel frame in the present invention；
Fig. 8 is the rear perspective schematic diagram of intelligent wheel chair of the present invention；
Fig. 9 is the sectional view of the line B-B along Fig. 8；
Figure 10 is the partial enlarged drawing in C portions in Fig. 9；
Figure 11 is the schematic perspective view that intelligent wheel chair of the present invention includes case.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, rather than to protection scope of the present invention
Limitation.In the description of the invention, it is to be understood that term "front", "rear", "left", "right", " on ", " under ", " transverse direction ",
The indicating positions such as " longitudinal direction ", " vertical " or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of
Description is of the invention to be described with simplified, rather than the device or element of instruction or hint meaning must be with specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
Refering to Fig. 1, the intelligent wheel chair in the present embodiment, including chassis 1, it is respectively arranged in the leading section of chassis 1 and rearward end
Front wheel carrier 2 and rear wheel frame 3, be installed on the One On The Chassis seat 4, control system 8, battery 9.Install respectively the both sides of front wheel carrier 2
There is directive wheel 20, the both sides of rear wheel frame 3 are separately installed with driving wheel 30.It is provided with seat 4 with so that user manipulates intelligence
The control device 40 of wheelchair operation.Control device 40 can realize the operations such as movable intelligent wheel chair, left and right turn, acceleration and deceleration.
Refering to Fig. 2, chassis 1 include the spaced longeron 12 of first longeron 11 and second in left and right, respectively before and after successively between
Every setting and be fixedly connected with the first crossbeam 13 of the first longeron 11 and the second longeron 12, the crossbeam 15 of second cross beam 14 and the 3rd.
First crossbeam 13 is located at the front portion on chassis 1 and convergence is arranged at the front end of the first longeron 11 and the second longeron 12；Second cross beam 14
It is arranged at intervals between the crossbeam 15 of first crossbeam 13 and the 3rd；3rd crossbeam 15 is arranged at the first longeron 11 and the second longeron 12
Rear end, the both ends of the 3rd crossbeam 15 protrude from the first longeron 11 and the second longeron 12 and extended laterally respectively.Seat 4 passes through branch
Strut 16 is installed on the top on chassis 1, and front wheel carrier 2 is connected to first crossbeam 13, and rear wheel frame 3 is connected to the 3rd crossbeam 15.
It is provided with to be fixedly connected with the supporting plate 17 of support bar 16 between the crossbeam 15 of second cross beam 14 and the 3rd.Supporting plate
17 rearward end is provided with the battery fixed bin 171 for installing battery 9.The front side of support bar 16 is fixed by connecting plate 161
Installation control system 8.Seat 4, battery 9 and control system 8 in the present embodiment, which are tried one's best, is partial to the rear portion on chassis 1, to keep
Overall center of gravity is inclined to rear portion, is rolled forward when reducing intelligent wheel chair operation, is advantageous to improve the security using intelligent wheel chair.When
So in other embodiments, power supply and control system 8 are mountable in the interval trough on chassis 1, are to reduce power supply and control
The occupancy volume of system 8 so that compact overall structure.
Refering to Fig. 3, front wheel carrier 2 is the body of rod for being horizontally set at the lower section of chassis 1.The both ends of front wheel carrier 2 protrude from respectively
First longeron 11 and the second longeron 12 on chassis 1 simultaneously extend laterally.The both ends of front wheel carrier 2 have been fixedly connected with installation knuckle
21 steering yoke 22, two directive wheels 20 are rotatably installed on the both sides of front wheel carrier 2 by two knuckles 21 respectively.Front wheel carrier
2 centre position, which is provided with, swings rotating shaft 23, and the centre position of the first crossbeam 13 on chassis 1 is provided with to be coordinated with swinging rotating shaft 23
And the swinging bush 131 being rotatably coupled.Rotating shaft 23 is swung to be extended on front wheel carrier 2 along intelligent wheel chair fore-and-aft direction,
Rotating shaft 23 is swung in longitudinally disposed.According to rotating shaft and the relatively turnable principle of axle sleeve, front wheel carrier 2 can be around swing rotating shaft 23 or so
Swing, chassis 1 can swing around swinging bush 131, i.e., front wheel carrier 2 can swing relative to chassis 1, or chassis 1 can
Swung relative to front wheel carrier 2.In addition, according to lever principle, when two directive wheels 20 of intelligent wheel chair travel on it is uneven
Road surface when, two directive wheels 20 follow front wheel carrier 2 around swing rotating shaft 23 swing, because swing rotating shaft 23 be arranged at front wheel carrier
2 centre position so that the arm of force of the both sides of front wheel carrier 2 is equal, to keep the relative equilibrium in the left side of front wheel carrier 2 and right side, improves
Relative to the stability on ground when two directive wheels 20 move.When the rear portion of intelligent wheel chair is located at rough road surface, such as：
For two driving wheels 30 positioned at horizontal rough road surface, two driving wheels 30 follow chassis 1 to be put around swinging bush 131 or so
It is dynamic, because swinging bush 131 is arranged at the centre position of the first crossbeam 13 on chassis 1 so that the left side on chassis 1 and the arm of force on right side
It is equal, to keep the relative equilibrium in the left side of chassis 1 and right side, improve when two driving wheels 30 move relative to the stability on ground.
Swing rotating shaft 23 and swinging bush 131 by mutual cooperation so that chassis 1 and rear wheel frame 3 are combined into opposing oscillatory structure
A part, front wheel carrier 2 are another part of opposing oscillatory structure, and intelligent wheel chair can travel on rough road surface, and carry
The stability in high left and right vehicle wheel direction.
In other embodiments, swinging bush 131 can also be arranged on front wheel carrier 2, swung rotating shaft 23 and set accordingly
It is placed on chassis 1.
Refering to Fig. 3, in the present embodiment, first longeron 11 on chassis 1 and the front end of the second longeron 12 respectively with front wheel carrier 2
The contact position at both ends is provided with elastic component 24.One of end in both ends corresponds to the first longeron 11, another
End corresponds to the second longeron 12.Contact position is specially:In the process of running, two directive wheels 20 are because uneven for intelligent wheel chair
Road surface formed left and right difference in height.Two directive wheels 20 follow front wheel carrier 2 and put with swinging rotating shaft 23 for fulcrum relative to chassis 1 or so
Dynamic, now front wheel carrier 2 forms certain angle of inclination relative to chassis 1.If the excessive both ends for promoting front wheel carrier 2 in angle of inclination
One of touching chassis 1 the first longeron 11 or the second longeron 12 when, that is, form above-mentioned " contact position ".Elastic component 24 can prevent
Front wheel carrier 2 occurs directly to contact with the first longeron 11, the second longeron 12, avoids front wheel carrier 2 from colliding chassis 1；Elastic component 24 also may be used
To buffer impulsive force of the front wheel carrier 2 relative to chassis 1, the structural damage caused by impulsive force between each other is reduced.Elastic component 24
Swing angle of the front wheel carrier 2 relative to chassis 1 can also be limited, and can be by increasing the height energy of elastic component 24 further
Reduce swing angle of the front wheel carrier 2 relative to chassis 1, improve the overall stability of intelligent wheel chair.Elastic component 24 can be spring,
Any one in damper, elastic rubber ring.
In the present embodiment, elastic component 24 is adopted as spring, simple in construction, cheap.First longeron 11 on chassis 1 and
The interspersed bar 112 through spring is provided with two longerons 12.It is provided with front wheel carrier 2 and accommodates the interspersed bar about 112
The through hole 26 of displacement.When front wheel carrier 2 is with 1 opposing oscillatory of chassis, interspersed bar 112 is formed with swinging rotating shaft 23 as swing pivot
Arcuate oscillating motion angle between radial direction.Through hole 26 can provide it is enough laterally contain space, to accommodate interspersed bar about 112
Taking up space during displacement.The waist through hole that through hole 26 is preferably laterally set.
Certainly in other embodiments, elastic component 24 can also be not provided between front wheel carrier 2 and chassis 1, but pass through
Set on swinging bush 131 and swing limited block, swing the swing stopper slot for being provided with rotating shaft 23 and coordinating with swinging limited block.
Shock absorber part can also be installed between limited block and swing stopper slot by swinging, and can not only limit the phase between front wheel carrier 2 and chassis 1
To swing angle, current buffer can also be realized, prevents front wheel carrier 2 from being collided with chassis 1.
In the present embodiment, when front wheel carrier 2 is arranged at the lower section on chassis 1, elastic component 24 is arranged at the bottom on chassis 1 accordingly
Portion.One end of elastic component 24 is connected to front wheel carrier 2, and the other end is connected to chassis 1.Two elastic components 24 are respectively positioned at swing rotating shaft 23
Both sides, front wheel carrier 2 is connected to chassis 1 by swinging the elastic component 24 of rotating shaft 23 and two.When two directive wheels 20 travel on road surface, lead to
Cross two elastic components 24 and be relatively arranged on swing rotating shaft 23 and the swinging bush 131 in centre position, can further promote
Two directive wheels 20 are smoothly displaced into rough road surface.Certainly in other embodiments, swinging rotating shaft 23 can also set
The side for being partial to centre position on front wheel carrier 2 is put, two elastic components 24 are respectively positioned at the both sides for swinging rotating shaft 23；Swinging bush
131 can also be arranged on the side for being partial to centre position on first crossbeam 13.Although swing rotating shaft 23 and swinging bush 131 simultaneously
It is not provided with centre position, but two directive wheels 20 can still follow elastic component 24 of the front wheel carrier 2 by both sides, and phase interworking
The swing rotating shaft 23 of conjunction and swinging bush 131, realize relative to chassis 1 and smoothly swing, and be smoothly displaced into bumps
Uneven road surface.Similarly, two driving wheels 30 can also follow chassis 1 to be realized relative to front wheel carrier 2 and smoothly swing, and improve
The comfortableness that user drives.In present embodiment, it is preferably：The centre position that rotating shaft 23 is arranged at front wheel carrier 2 is swung, is swung
Axle sleeve 131 is arranged at the centre position of the first crossbeam 13 on chassis 1.Be advantageous to user and keep the relative of vehicle left side and right side
Balance, improve resistance to overturning when intelligent wheel chair travels on uneven road surface.
Certainly in other embodiments, front wheel carrier 2 is also swingably installed on the top on chassis 1, and elastic component 24 is corresponding
The top for being arranged at chassis 1；Or front wheel carrier 2 is installed on the front on chassis 1, front wheel carrier 2 is convex relative to the side on chassis 1
Go out the projection for being provided with fixed elastic component 24, elastic component 24 is arranged between chassis 1 and projection.
In the present embodiment, the protrusion of first crossbeam 13 on chassis 1, which is provided with, swings contiguous block 18.Swing the protrusion of contiguous block 18
Direction corresponds to the installation site of elastic component 24, that is, is arranged at the bottom on chassis 1.Swinging bush 131 is fixedly connected on swing and connected
Connect block 18.Setting height(from bottom) of the whole height corresponding to two elastic components 24 that contiguous block 18 combines swinging bush 131 is swung, to keep
Front wheel carrier 2 is relatively parallel in static state relative to chassis 1.In other embodiments, the protrusion direction of contiguous block 18 is swung
It may correspond to front wheel carrier 2, the installation position of elastic component 24.
Referring to Fig. 4, steering mechanism 5 and angular transducer 6 are installed on front wheel carrier 2.Steering mechanism 5 is driving two guiding
Wheel 20 turns to, and angular transducer 6 is to detect the rotational angle of the driven gear 53 in steering mechanism 5, and by the rotation of detection
Information Real-time Feedback is to control system.It is installed on the control device 40 on seat 4, the steering motor 51 in steering mechanism 5, angle
Degree sensor 6 is connected with the signal of control system 8 respectively.Steering mechanism 5 includes turning to motor 51, is installed on steering driving electricity
Driving gear 52 and driving gear 52 on machine 51 coordinate the driven gear 53 of transmission, turned with what driven gear 53 rotated coaxially
To connecting plate 54, installation driven gear 53 and turn to the power transmission shaft 56 of connecting plate 54, be connected to two directive wheels 20 with turn to connecting plate 54 it
Between two steering linkages 55.Driving gear 52 is installed on the output shaft for turning to motor.Two steering linkages 55 are respectively articulated with
Two knuckles 21 of the installation directive wheel 20 at the both ends of front wheel carrier 2.Turn to the active force that motor 51 exports and be transferred to master successively
Moving gear 52, driven gear 53, connecting plate 54, two steering linkages 55 and two knuckles 21 are turned to, two directive wheels 20 of driving turn to；Intelligence
Can wheelchair by the forward and reverse of multiple rotatable components in steering mechanism, and the left and right displacement of movable part, push away
Dynamic knuckle 21 can realize the left steering and right turn of two directive wheels 20.It is simple in construction, course changing control is accurate.Rotatable components
To turn to driving motor output shaft, driving gear 52, driven gear 53, steering connecting plate 54 and power transmission shaft 56；Movable part
For steering linkage 55.
Referring to Fig. 3 to Fig. 5, the bottom of front wheel carrier 2 is provided with the fixed plate 27 that installation turns to motor 51, turns to driving
Motor 51 is located between front wheel carrier 2 and the first crossbeam 13 on chassis 1.Turn to motor 51 and be adopted as reducing motor, it is exported
Axle is vertically arranged.Turn to and driving gear 52 is installed on the output shaft of motor 51.The intermediate region of front wheel carrier 2 is provided with peace
The fixed cover 28 of power transmission shaft 56 is filled, power transmission shaft 56 is connected with fixed cover 28 by bearing, and power transmission shaft 56 is with turning to motor 51
Output shaft be arranged in parallel.The upper end of power transmission shaft 56 is fixedly connected with the driven gear 53 for coordinating transmission with driving gear 52, from
Moving gear 53 is rotatably installed on front wheel carrier 2 by power transmission shaft 56.Driving gear 52 and driven gear 53 are Spur Gear Driving.
Certainly in other embodiments, the output shaft of steering motor 51 can also be longitudinally disposed or laterally set, driven gear
53 can also be installed on the lower section of front wheel carrier 2, front or behind.Wherein, the output shaft and power transmission shaft 56 of motor 51 are turned to
When parallel, Spur Gear Driving can be adopted as；When the output shaft of steering motor 51 is vertical with power transmission shaft 56, it can be adopted as boring tooth
Wheel transmission.It can realize that driving gear 52 coordinates by Spur Gear Driving or Bevel Gear Transmission and be transmitted in driven gear 53.
Referring to Fig. 6, the lower end of power transmission shaft 56 is fixedly connected with the steering connecting plate 54 rotated coaxially with driven gear 53, turns to
Connecting plate 54 is consistent with the direction of rotation of driven gear 53.One end of steering connecting plate 54 is provided with the kidney-shaped coordinated with power transmission shaft 56 and consolidated
Determine hole 541, the other end is provided with two hinge holes 542 being hinged respectively with two steering linkages 55.Connecting plate 54 is turned to power transmission shaft 56
Axle center be pivot point, two first hinge holes 542 are symmetricly set in the both sides for the center line for turning to connecting plate 54.Each turn to is drawn
One end of bar 55, which is articulated with, turns to connecting plate 54, and the other end is articulated with knuckle 21.Knuckle 21 is articulated with peace by steering spindle 25
Steering yoke 22 mounted in the end of front wheel carrier 2, knuckle 21 is using the axle center of steering spindle 25 as pivot point.In the present embodiment, because
Two hinge holes 542 are arranged at intervals, when turning to connecting plate 54 around the rotation of the axle center of power transmission shaft 56, if steering spindle 25 is vertically arranged,
Two directive wheels 20 can produce steering angle deviation when turning to, and cause vehicle steering angle inaccurate.By by steering spindle 25 by
Tilted laterally under up to, specially the upper end of steering spindle 25 is away from transmission close to power transmission shaft 56, the lower end of steering spindle 25
Axle 56.Steering spindle 25 be arranged such can offset two directive wheels 20 turn to caused by steering angle deviation, be easy to accurately control
The steering of two directive wheels 20.Certainly in other embodiments, a hinge hole 542 can also only be set by turning on connecting plate 54,
Two steering linkages 55 are articulated with same hinge hole.In addition, can also be provided with driven gear 53 respectively with two steering linkages
55 two be hinged hinge holes, one end of each steering linkage 55 are articulated with driven gear, and the other end is articulated with knuckle 21.Or
Person, a hinge hole is only set on driven gear 53, two steering linkages 55 are articulated with same hinge hole.Steering mechanism 5 is still
Two directive wheels 20 can be driven to turn to.
In the present embodiment, turn to and be provided with limiting steering block 543 on connecting plate 54, be provided with and turn on the front wheel carrier 2
The limiting steering groove that limited block 543 coordinates（Not shown in figure）., can by the cooperation of limiting steering block 543 and limiting steering groove
With the angle steering range of restricted guidance wheel 20.
Refering to Fig. 5, the fixed mount 29 to fixed angle sensor 6 is installed on front wheel carrier 2.Fixed mount 29 is fixedly connected
In the upper surface of front wheel carrier 2.Fixed mount 29 is additionally provided with to aid in the fixed seat 291 for fixing driving gear 52.Angle sensor
Device 6 is arranged at the outside of driven gear 53 and detects the rotational angle of driven gear 53.Angular transducer 6 believes the rotation of detection
Cease the steering that Real-time Feedback is sent to control system 8, the rotation information that control system 8 detects angular transducer 6 with control device
Instruction is compared, and when rotation information is consistent with steering order, control system, which is closed, turns to motor, completes to turn to, two
Directive wheel keeps current steering angle.User can accurately grasp the steering of two directive wheels by the rotational angle of control device
Angle.And when rotation information and steering order are inconsistent, angular transducer continues the rotation information of detection feeding back to control
System processed, to carry out the control of steering angle compensation, until rotation information is consistent with steering order.The present invention, which has to improve, to be turned
The advantages of to control accuracy.Simple in construction, manipulation is conveniently.
Certainly in other embodiments, angular transducer 6, which can also be arranged at, turns to driving motor output shaft, driving tooth
The steering of detection is driven electricity by wheel 52, power transmission shaft 56, the outside for turning to connecting plate 54 or knuckle 21, angular transducer 6 accordingly
Machine output shaft, driving gear 52, power transmission shaft 56, the rotation information Real-time Feedback of connecting plate 54 or knuckle 21 is turned to control system
8。
Certainly in other embodiments, displacement transducer can also be installed in the side of steering linkage 55, to substitute angle
Spend sensor 6.For displacement transducer to detect the position that moves left and right of steering linkage 55, displacement transducer draws the steering of detection
The left and right displacement information that the left and right displacement information Real-time Feedback of bar 55 detects displacement transducer to control system 8, control system 8
Compared with the steering order that control device is sent, motor 51 is turned to judge whether to need to close.
In the present embodiment, angular transducer 6 is adopted as Hall sensor.Hall sensor by support be fixedly installed in from
The end face of moving gear 53, Hall sensor follow driven gear 53 to rotate together.Magnet is fixedly installed on fixed mount 29 and right
Should be in Hall sensor.Simple in construction, detection is accurately.
Present invention also offers a kind of rotating direction control method of intelligent wheel chair, and steering order is sent by operating control device 40
To control system 8；Control system 8 starts according to steering order turns to motor 51, turns to motor 51 and drives turning machine
Structure 5 rotates；Meanwhile angular transducer 6 detects the rotation information of steering mechanism 5 and feeds back to control system 8 in real time；Control system
8 compare rotation information and steering order, when rotation information is consistent with steering order, closes and turn to motor 51, complete to turn
To；When rotation information and steering order are inconsistent, control turns to motor 51 and continues to turn to until two information is consistent.
Preferably, steering order includes the coordinate for turning to the instruction of the forward or reverse of motor 51 and directive wheel 20 turns to
Setting value；Rotation information is the driven gear 53 of steering mechanism 5 or the rotation information of driving gear 52.
Certainly, the rotation information of steering mechanism 5 can also be to turn to driving motor output shaft, turn to connecting plate 54 or power transmission shaft
56 rotation information.
Certainly in other embodiments, the steering that the rotating direction control method of intelligent wheel chair can also detect displacement transducer
The rotation of rotatable components in the steering mechanism that the left and right displacement information substitution angular transducer of movable part detects in mechanism
Information.Movable part is steering linkage.
The rotating direction control method of intelligent wheel chair, specifically includes following steps in the present embodiment：
S1. user performs steering operation by control device 40, and control device 40 sends steering order to control system 8；
S2. after control system 8 analyzes and processes according to steering order, it is generated as control and turns to the forward or reverse of motor 51
Instruction, and the setting coordinate value that directive wheel turns to；
S3. turn to motor 51 and forward or reverse is implemented according to the instruction of control system 8；Meanwhile angular transducer 6 detects
The rotational angle of driven gear 53 or driving gear 52 and by the rotation information Real-time Feedback of detection to control system 8；
S4. the rotation information that control system 8 detects according to angular transducer 6 is generated as the coordinates feedback value of the steering of directive wheel 20,
Coordinates feedback value and setting coordinate value are generated using same standard；
S5. control system 8 is continual is generated as coordinates feedback value by rotation information, and it is continual by coordinates feedback value with
Setting coordinate value is compared；
S6. when coordinates feedback value and setting coordinate value compare consistent, control system 8, which is closed, turns to motor 51, and now two
Directive wheel 20 keeps current steering angle, completes to turn to；
S7. when coordinates feedback value and setting coordinate value compare inconsistent, control system 8, which still starts, turns to motor 51, and two
Directive wheel 20 continues to turn to accordingly；Until coordinates feedback value compares unanimously with setting coordinate value.
Certainly in other embodiments, after steering order can also be analyzed and processed by control device 40, it is generated as control and turns
Instruction to the forward or reverse of motor 51, and the setting coordinate value that directive wheel turns to.Control device 40 will be controlled to turn to and driven
The instruction of the dynamic forward or reverse of motor 51, and the setting coordinate value that directive wheel turns to are sent to control system 8.
Preferably, control device 40 is included to control the direction rocking bar 401 that intelligent wheel chair turns to, and direction rocking bar 401 passes through
Automatic reset device is connected to inside control device 40.Direction rocking bar 401 in initial position, two directive wheels 20 be located at accordingly to
The wheel of front straight trip returns positive position.User's shaking direction rocking bar 401 has performed a steering operation by control system 8
Afterwards, that is, after completing S6 steps, if user unclamps direction rocking bar 401, that is, the active force for putting on direction rocking bar 401, side are released
Initial position can be automatically reverted to by automatic reset device to rocking bar 401, now passes through behaviour equivalent to user in S1 steps
Control device 40 performs steering operation again, forms new steering order.Control system 8 is driven after receiving new steering order by turning to
Dynamic motor 51, and the cooperation control self-aligning of two directive wheel 20 to the wheel kept straight on forwards of angular transducer 6 return normotopia
Put.Be advantageous to the steering using manipulation intelligent wheel chair.
New steering order can be construed to user operate again control device 40 execution remove S6 steps in steering angle
The steering operation of other any directions in addition.
Certainly in other embodiments, can also be liquid to control the implementation part that intelligent wheel chair turns in control device 40
Brilliant touch-screen, knob, spin or direction plectrum.Certainly by corresponding auxiliary equipment can also liquid crystal touch screen, knob,
Spin or the steering operation of direction plectrum have auto-reset function.
Refering to Fig. 7 and Fig. 8, rear wheel frame 3 is included before and after spaced 3rd longeron 31 in left and right and the 4th longeron 32, difference
The 4th crossbeam 33 and the 5th crossbeam 34 spaced successively and that be fixedly connected with the 3rd longeron 31 and the 4th longeron 32.4th is horizontal
Beam 33 is located at the front portion of rear wheel frame 3 and convergence is arranged at the front end of the 3rd longeron 31 and the 4th longeron 32；5th crossbeam 34 is located at
The rear portion of rear wheel frame 3 and convergence are arranged at the rear end of the 3rd longeron 31 and the 4th longeron 32.3rd longeron 31 and the 4th longeron 32
Rear end be fixedly connected with anti-tip wheel 35.When intelligent wheel chair runs on domatic upper, anti-tip wheel 35 can prevent intelligent wheel chair to car
Body rear rolls.3rd longeron 31 and the 4th longeron 32 are installed to drive the drive device that two driving wheels 30 rotate jointly
36, drive device 36 is between the 4th crossbeam 33 and the 5th crossbeam 34.Drive device 36 includes motor, decelerator, difference
Fast device, wheel drive axle.Certainly in other embodiments, two driving wheels can install a drive device respectively.Or trailing wheel
One driving wheel is only installed on frame.
Refering to Fig. 2, Fig. 7 and Fig. 8, rear wheel frame 3 by the jointed shaft 37 that extends along intelligent wheel chair left and right directions rotationally
The rearward end of chassis 1 is connected to, bolster 38 is installed between rear wheel frame 3 and chassis 1.Jointed shaft 37 is in laterally setting.Chassis 1
The both ends of 3rd crossbeam 15 are provided with the first articulated section 151, and two first articulated sections 151 are located at the bottom of the 3rd crossbeam 15.Bottom
The upper surface of the rearward end of disk 1 is provided with two cantilevers 19 to raise up, and two cantilevers 19 are arranged at intervals, and battery fixed bin 171 is located at two
Between cantilever 19.Each cantilever 19 is fixedly connected with reinforcing plate and is fixedly installed on chassis 1.Two cantilevers 19 in bending and to
Back upper place extends, and the extension of two cantilevers 19 is provided with the second articulated section 191.3rd longeron 31 and the 4th of rear wheel frame 3
The front end of longeron 32 is in bending and is provided with the 3rd articulated section 322.Two the 3rd articulated sections 322 hinge by laterally setting respectively
Spindle 37 is articulated with two first articulated sections 151.It is provided with two the 4th articulated sections 331 on 4th crossbeam 33 of rear wheel frame 3, two the 4th
Articulated section 331 corresponds respectively to two second articulated sections 191.Two the 4th articulated sections 331 and two second articulated sections 191 corresponding peace respectively
Equipped with two bolsters 38, one end of each bolster 38 is articulated with the second articulated section 191, and the other end is articulated with the 4th articulated section
331.By two the 3rd articulated sections 322 being hinged and two first articulated sections 151, rear wheel frame 3 is pivotably connected in chassis 1
Rearward end.When intelligent wheel chair travels on rough road surface, rear wheel frame 3 can be relative to the swing of chassis 1.By being installed on
Two bolsters 38 between two cantilevers 19 and rear wheel frame 3, it is possible to achieve rear wheel frame 3 is advantageous to trailing wheel relative to the buffering on chassis 1
Frame 3 is relative to the swing of chassis 1, relaxing when improving damping performance of the chassis relative to ground, and improving intelligent wheel chair traveling
Adaptive.
In the present embodiment, when intelligent wheel chair travels on rough road surface, such as：It is recessed relative to the longitudinal direction of intelligent wheel chair
Convex uneven road surface, being installed on the front wheel carrier 2 of the leading section of chassis 1 can follow chassis 1 to be rotated relative to rear wheel frame 3, can and
When the directive wheel 20 of adjustment two relative to road surface height, improve intelligent wheel chair operation when fore-and-aft direction stability.
Intelligent wheel chair is swung by being installed on swing rotating shaft 23 and the swinging bush 131 of the mutual cooperation of the leading section of chassis 1
Rotating shaft 23 and swinging bush 131 are longitudinally disposed, and chassis 1 and rear wheel frame 3 are combined into the part for relatively swinging structure, front-wheel
Frame 2 is the another part for relatively swinging structure；Two the 3rd articulated sections 322 and two first articulated sections 151 pass through horizontal setting
Jointed shaft 37 be hinged, chassis 1 and front wheel carrier 2 are combined into a part for relative swing structure, and rear wheel frame 3 is relative
Another part of swing structure.Intelligent wheel chair can realize front cross relatively swing and rear portion is longitudinally opposite
Swing, coordinate two elastic components 24 being installed between chassis 1 and front wheel carrier 2, be installed between chassis 1 and rear wheel frame 3
Two bolsters 38, it can further improve stability and comfortableness during intelligent wheel chair operation.Certainly in other embodiments,
The front wheel carrier of intelligent wheel chair can also swing relative to chassis swing, rear wheel frame relative to chassis.Or intelligence wheel
The front wheel carrier and rear wheel frame of chair swing both with respect to chassis.
Referring to Fig. 9 and Figure 10, the support bar 16 for being fixedly connected on chassis 1 is socketed with sliding bar 62, and seat 4 is by being connected block
63 are installed on the upper end of sliding bar 62.Screwed hole 64 is provided with sliding bar 62, is connected on block 63 and is provided with corresponding to screwed hole
64 positioning hole 65, sliding bar 62 and linking block 63 are connected by index pin 66.Index pin 66, which is connected through a screw thread, is fixed on cunning
In lever 62, the locating dowel 67 of index pin 66 can be inserted into the positioning hole 65 of linking block 63.By the rotation for rotating index pin 66
Positioning hole 65 can be stretched into or be located away from by locating dowel 67 by changing hands handle 68, quickly by the assembly and disassembly of seat 4 in sliding bar 62.It is sliding
The inside of lever 62 is provided with pneumatic spring 61, and the pressure control end 69 of pneumatic spring 61 is installed on inside linking block 63.Linking
Lifting handle 631 for controlling the pressure control end 69 is installed on block 63.Seat 4 is liftable by pneumatic spring 61
It is installed on the top of chassis 1.User by pull lifting handle 631 can realize seat 4 relative to the rising of support bar 16 or under
Drop.
Referring to Fig. 8 and Fig. 9, seat 4 includes seat cushion 41, backrest 42, the bar 44 of headrest 43 and two.The rear portion of seat cushion 41 is set
It is equipped with the link 46 of two bars 44 of angle regulator 45 and installation of installation backrest 42.The one end of angle regulator 45 connects
Seat cushion 41 is connected to, the other end is connected to backrest 42.The reclined by angle of backrest 42 can be adjusted by angle regulator 45.Headrest
43 are plugged in the top of backrest 42 by the way that two connecting rods are liftable.Link 46 includes being horizontally set at the slip cap on rear side of seat cushion
Bar 47, two sliding guides 48 for being respectively arranged in the both ends of sliding bar set 47.Guide rail, sliding guide are provided with sliding bar set 47
The sliding shoe being engaged with guide rail is provided with 48.Each sliding guide 48 has been fixedly connected with bar 44.Two bars 44
Extend from the rear side of seat cushion 41 to the front upper place of seat cushion 41.Two bars 44 are arranged at the left and right sides of seat cushion 41, with for user
The control device 40 of manipulation intelligent wheel chair operation is installed on the bar 44 on right side.Control device 40 is included to control intelligent wheel chair
The direction rocking bar 401 of steering.Control device 40 can also be installed on to the bar in left side according to the manipulation custom of user certainly
On 44.Armrest pad 49 is installed, armrest pad 49 is triangular in shape on each bar 44.The ramped bottom surface of armrest pad 49, which fits in, helps
The upper side of hand lever 44, the support top surface of armrest pad 49 correspond to the angles of arm.Preferably, the material of armrest pad 49 is adopted
With for elastic caoutchouc, and armrest pad 49 is in hollow out shape, to improve the support comfortableness of armrest pad 49.Pass through tune in the present embodiment
Sliding guide 48 is saved relative to the shift position of sliding bar set 47, the distance between two bars 44 are increasedd or decreased, to adapt to
People's sitting of different building shape is above seat cushion 41.
Referring to Figure 11, in the present embodiment, the top on chassis 1 is coated with case 7.The front portion of case 7 is provided with pedal 71；
The rear portion of case 7 raises up, and formed with the receiving space for containing battery 9, the cantilever 19 of control system 8 and two.Case 7 it is convex
The portion of rising is provided with the through hole run through for support bar 16.The opening position that the bottom of case 7 corresponds to the hind axle of front wheel carrier 2 and two is respectively provided with
It is jagged（Not shown in figure）, breach can be convenient to install the hind axle of front wheel carrier 2 and two.The anterior breach of case 7 can be with
When front wheel carrier 2 swings relative to chassis 1, prevent front wheel carrier 2 from colliding case 7；The breach at the rear portion of case 7 can also be rear
When wheel carrier 3 is relative to 1 swing of chassis, prevent two hind axles from colliding case 7.
In the present embodiment, each knuckle 21 is fixedly connected with front wheel housing 72, and front wheel housing 72 follows knuckle 21 and is oriented to
Wheel 20 turns to together.The left and right ends of rear wheel frame 3 have been respectively fixedly connected with two rear wheel covers 73, and two rear wheel covers 73 follow rear wheel frame 3
Relative to the swing of chassis 1.
Finally it should be noted that：Above example only not limits technology described in the invention to illustrate the present invention
Scheme；Therefore, although this specification with reference to the above embodiments to present invention has been detailed description, this area
It is to be appreciated by one skilled in the art that still can be modified to the present invention or equivalent substitution；And all do not depart from the present invention
Spirit and scope technical scheme and its improvement, it all should cover in scope of the presently claimed invention.
Claims (10)
- A kind of 1. intelligent wheel chair, it is characterised in that：Including chassis, the seat being installed on chassis, it is respectively arranged in before and after chassis The front wheel carrier and rear wheel frame at both ends, the extreme end of chassis portion are provided with two first articulated sections and two second articulated sections, the trailing wheel Erection has two the 3rd articulated sections and two the 4th articulated sections, and two the 3rd articulated section is hinged with two first articulated sections respectively, institute State the one end of two the 4th articulated sections respectively with a bolster to be hinged, two second articulated section is another with two bolster respectively One end is hinged.
- 2. intelligent wheel chair as claimed in claim 1, it is characterised in that：The chassis is provided with two cantilevers to raise up, described Two second articulated sections are respectively arranged on two cantilever.
- 3. intelligent wheel chair as claimed in claim 2, it is characterised in that：Battery is installed between two cantilever.
- 4. the intelligent wheel chair as described in any one in claims 1 to 3, it is characterised in that：The front wheel carrier is provided with along intelligence The swing rotating shaft of energy wheelchair fore-and-aft direction extension, the swinging axle that the chassis front end portion is provided with and the swing rotating shaft is engaged Set, the front wheel carrier can swing around the swing rotating shaft.
- 5. intelligent wheel chair as claimed in claim 4, it is characterised in that：The swinging bush is arranged at the centre in chassis front end portion Position；The centre position for swinging rotating shaft and being arranged at front wheel carrier.
- 6. intelligent wheel chair as claimed in claim 4, it is characterised in that：The front wheel carrier is swingably installed on the chassis Above or below, the contact position at the both ends of the front wheel carrier and the chassis is provided with elastic component.
- 7. intelligent wheel chair as claimed in claim 6, it is characterised in that：The elastic component is spring, is provided with the chassis Through the interspersed bar of the spring；The through hole for accommodating the interspersed bar upper and lower displacement is provided with the front wheel carrier.
- 8. intelligent wheel chair as claimed in claim 4, it is characterised in that：The swinging bush is provided with swing limited block；It is described Swing the swing stopper slot for being provided with rotating shaft and coordinating with swinging limited block.
- 9. intelligent wheel chair as claimed in claim 5, it is characterised in that：Intelligent wheel chair also includes the control system being installed on chassis System；The both sides of the front wheel carrier are separately installed with directive wheel, and driving wheel is provided with the rear wheel frame；It is provided with the seat To manipulate the control device of intelligent wheel chair operation；The front wheel carrier is provided with steering mechanism and angular transducer；The steering mechanism includes turning to motor, is installed on Turn to the driving gear on motor, coordinate the driven gear of transmission with driving gear, the steering mechanism is driving two Directive wheel turns to, and the angular transducer is detecting the rotational angle of the driving gear or driven gear and feed back to described Control system；The control device, steering motor, angular transducer are connected with the control system signal respectively.
- 10. intelligent wheel chair as claimed in claim 9, it is characterised in that：The control device is included to control intelligent wheel chair to turn To direction rocking bar, direction rocking bar is connected to inside control device by automatic reset device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711103003.8A CN107773357A (en) | 2017-11-10 | 2017-11-10 | Intelligent wheel chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711103003.8A CN107773357A (en) | 2017-11-10 | 2017-11-10 | Intelligent wheel chair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107773357A true CN107773357A (en) | 2018-03-09 |
Family
ID=61432785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711103003.8A Pending CN107773357A (en) | 2017-11-10 | 2017-11-10 | Intelligent wheel chair |
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| Country | Link |
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| CN (1) | CN107773357A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112869964A (en) * | 2021-01-04 | 2021-06-01 | 赵寒英 | A drip auxiliary chair for medical treatment paediatrics |
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