CN108186216B - A kind of intelligence disabled person auxiliary wheelchair - Google Patents

A kind of intelligence disabled person auxiliary wheelchair Download PDF

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Publication number
CN108186216B
CN108186216B CN201810152869.6A CN201810152869A CN108186216B CN 108186216 B CN108186216 B CN 108186216B CN 201810152869 A CN201810152869 A CN 201810152869A CN 108186216 B CN108186216 B CN 108186216B
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CN
China
Prior art keywords
steering engine
rolling
fixed plate
axis
plate
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Active
Application number
CN201810152869.6A
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Chinese (zh)
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CN108186216A (en
Inventor
不公告发明人
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Anhui Yuet Automation Co., Ltd.
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Anhui Yuet Automation Co Ltd
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Priority to CN201810152869.6A priority Critical patent/CN108186216B/en
Publication of CN108186216A publication Critical patent/CN108186216A/en
Application granted granted Critical
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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
    • A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • 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
    • A61G5/1002—Parts, details or accessories with toilet facilities
    • 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
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
    • 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
    • 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

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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)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

A kind of intelligence disabled person auxiliary wheelchair, including wheelchair main body, article placement part, end bowl part, feeding part, it is characterized by: the 7th axis of rolling of the article placement part is rotatably installed in the circular hole of the first support base of wheelchair main body, the right side of balustrade panel is fixedly mounted in the 8th steering engine fixed plate；Third stepper motor is controlled by the brain wave receiver of wheelchair main body and the rotation of the 4th stepper motor extends collective effect with the 6th hydraulic cylinder and the 5th hydraulic cylinder and lint wheel is made to reach designated position, it is rotated by the 5th stepper motor and the rotation of lint wheel is driven to complete primary cleaning, collective effect arrival sink, which is extended, with the 5th hydraulic cylinder by the rotation of the 4th stepper motor carries out cleaning lint wheel, continue cleaning work when completion, the self-care ability for greatly strengthening patient solves the problems, such as that patient goes to toilet and people is needed to look after.

Description

A kind of intelligence disabled person auxiliary wheelchair
Technical field
The present invention relates to health care technology field, in particular to a kind of intelligent disabled person assists wheelchair.
Background technique
Present many middle-aged and the old suffer from hemiplegia, simplest in life to have a meal, and go to toilet, sleep requires people's photograph It cares for, huge life stress is caused for one-child family, the event for producing elder abuse occurs, therefore is badly in need of wanting one Kind can look after the machine of hemiplegia patient.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of intelligent disabled persons to assist wheelchair, pass through the brain wave of wheelchair main body Receiver controls the rotation of two third steering engines to drive two cams rotations to move down two opening-closing plates while two A 7th hydraulic cylinder contraction makes two opening-closing plates mobile to two sides respectively, when next step patient has gone up lavatory, passes through third stepping Motor and the rotation of the 4th stepper motor, which extend collective effect with the 6th hydraulic cylinder and the 5th hydraulic cylinder, makes lint wheel reach specific bit It sets, while passing through third stepper motor and the after driving the rotation of lint wheel to complete primary cleaning by the rotation of the 5th stepper motor The rotation of four stepper motors reaches sink with the 6th hydraulic cylinder and the 5th hydraulic cylinder elongation collective effect and carries out cleaning lint wheel, completes When continue cleaning work, the self-care ability for greatly strengthening patient several times is repeated, solves patient and goes to toilet needs The problem that people looks after.
Technical solution used in the present invention is: a kind of intelligence disabled person auxiliary wheelchair, including wheelchair main body, article are placed Partially, bowl part, feeding part are held, it is characterised in that: the rear and front end of the 7th axis of rolling of the article placement part point It is not rotatably installed in the circular hole of two the first support base medial surfaces of wheelchair main body, the 8th steering engine fixed plate left side is fixedly mounted Rear side is leaned on the right side of the balustrade panel by left side；The left side of 5th extension sleeve of the end bowl part is fixedly mounted on wheelchair The lateral surface of the sliding block on the right side of main body, first gear are intermeshed with rack gear on the right side；The of the feeding part The eight extension sleeve right sides are fixedly mounted on the lateral surface of the sliding block by left side of wheelchair main body, and second gear is leaned on wheelchair main body The rack gear in left side is intermeshed.
The wheelchair main body includes backboard, head plate, two first hydraulic cylinders, the first steering engine fixed plate, the first rudder Machine, the first stepping motor fixing plate, the first stepper motor, first axis of rolling, second hydraulic cylinder, second stepper motor, third liquid Cylinder pressure, the first extension sleeve, the first telescopic rod, the 4th hydraulic cylinder, brain wave receiver, seat plate, second axis of rolling, the second rudder Machine, six arm supports bars, two rack gears, two dovetail grooves, two sliding blocks, two the first support bases, two opening-closing plates, second Support base, the third axis of rolling, third stepper motor, the second extension sleeve, the second telescopic rod, the 5th hydraulic cylinder, the 4th stepping electricity Machine, the 6th hydraulic cylinder, third telescopic rod, rolls lint wheel, third support base, the 5th stepper motor, the 5th at third extension sleeve Stepper motor fixed plate, two the 7th hydraulic cylinders, two the 7th hydraulic cylinder fixed plates, two third steering engines, two third steering engines Support base, four slide bars, two cams, sink, 18 water pipes, four sink scraper plates, eight wheel connecting rods, two bullets Spring, two damping slide bars, four damping slide bar fixed plates, two the 4th extension sleeves, two the 4th telescopic rods, two the 8th liquid Cylinder pressure, two the 6th stepper motors, two first round, ten the 9th hydraulic cylinders, ten rectangular sliding sleeves, ten slide plates, two Ten hydraulic cylinders, two the 4th steering engines, two the 4th axis of rolling, two the second wheels, two the 7th stepper motors, two the 4th supports Seat, two the 7th stepper motor fixed plates, the 5th steering engine, the 5th axis of rolling, thigh support board, the 6th steering engine fixed plate, the 6th Steering engine, the 6th axis of rolling, step pedal, two the 11st hydraulic cylinders, two the 7th steering engines, two the 5th support bases, two Eight stepper motors, two third rounds, two balustrade panels, the backboard are a rectangle planks, and described first rolls Axis is rotatably installed in the circular hole at the top place in the backboard left side；The front end left and right ends of the head plate are rotatably installed in respectively First axis of rolling left and right ends are equipped with the first steering engine fixed plate on its right side；First steering engine is horizontal positioned, and side is solid Before the first steering engine fixed plate, motor shaft is fixedly connected with first axis of rolling for Dingan County；Two first hydraulic cylinders Cylinder base be respectively and fixedly installed to below head plate the left and right sides, be respectively provided with a top plate in its piston rod end；It is described The first stepper motor it is horizontal positioned, side is fixedly mounted on above the first stepping motor fixing plate；Described second is hydraulic The cylinder base of cylinder is fixedly connected with the first stepping motor axis, the fixed company in piston rod end and second stepper motor side It connects；The second stepper motor is horizontal positioned, and motor shaft is fixedly connected with third hydraulic cylinder body bottom；The third The piston rod end of hydraulic cylinder is fixedly connected with the first extension sleeve left side；Groove is equipped in the first extension sleeve lower end surface；Institute The the first telescopic rod upper end stated is slidably mounted in the groove of the first extension sleeve lower end surface, lower end surface and brain wave receiver It is fixedly connected above；The cylinder base of 4th hydraulic cylinder is fixedly mounted on the baffle on the first extension sleeve right side, Piston rod end is fixedly connected with the baffle on the first telescopic rod right side；Second axis of rolling is rotatably installed in the backboard left side In circular hole on the lower；It is rotatably installed in the second axis of rolling left and right ends respectively at left and right sides of the rear end of the seat plate；Described Second steering engine is horizontal positioned, and side is fixedly mounted on the seat plate right side in the fixed plate of rear side, and motor shaft and second rolls Axis is fixedly connected；The left and right sides is respectively provided with the arm supports bar of three linear arrays on seat plate；Six handrails Support rod is divided into two groups, and every group of upper surface is fixedly connected with below two balustrade panels respectively；In the lateral surface of two balustrade panels It is respectively provided with a dovetail groove；Two sliding blocks are slidably mounted on respectively in two dovetail grooves；It is leaned below two balustrade panels Outside is respectively provided with a rack gear, and leaning on the medial surface front of left armrests plate to set, there are two the first support bases；Described two The lateral surface of opening-closing plate is slidably mounted on circular hole medial surface intermediate above seat plate respectively；Two the 7th hydraulic cylinders are fixed The intermediate left and right sides is respectively and fixedly installed to below seat plate above plate；Two the 7th hydraulic cylinder body bottoms are fixed respectively It is mounted on the medial surface of two the 7th hydraulic cylinder fixed plates, the piston rod end outside with two third steering engine support bases respectively Face is fixedly connected；Two third steering engines are horizontal positioned, and bottom is respectively and fixedly installed to two third steering engine support bases Interior, motor shaft is fixedly connected with two cams respectively；Four slide bars, in pairs, the upper surface of every group of slide bar with It is fixedly connected below opening-closing plate, lower end is slidably mounted on above third steering engine support base respectively in the groove of front and rear sides；? The wheel connecting rod of four rectangular arrays is respectively provided at two angles below seat plate rearward；Eight wheel connecting rods, Two groups are divided into, is fixedly connected above the lower end surface of every group of wheel connecting rod and upper damping slide bar fixed plate；Described Two damping the lower end of the slider are respectively and fixedly installed to the upper surface of two damping slide bar fixed plates on the lower, and the upper end is slided respectively It is mounted in circular hole intermediate below two upper slide bar fixed plates, end face is respectively provided with a baffle on it；Described Two spring upper ends are respectively and fixedly installed to below two upper damping slide bar fixed plates, and lower end is fixedly mounted respectively In two the upper surface of damping slide bar fixed plates on the lower；The upper surface of two the 4th extension sleeves is fixedly mounted respectively Below two damping slide bar fixed plates on the lower, groove is equipped in its lower end surface；On two the 4th telescopic rods End is slidably mounted on respectively in the groove of two the 4th extension sleeve lower end surfaces；Two the 8th hydraulic cylinder body bottoms point Be not fixedly mounted in the fixed plate of two the 4th extension sleeve medial surfaces, piston rod end respectively with two the 4th telescopic rods The baffle of medial surface is fixedly connected；Two the 6th stepper motors are horizontal positioned, and side is respectively and fixedly installed to two In the fixed plate of 4th telescopic rod lateral surface, motor shaft is fixedly connected among two first round medial surfaces respectively；Described Ten the 9th hydraulic cylinders, are divided into two groups, and the cylinder base of every group five circumferentially the 9th hydraulic cylinders of array is fixedly mounted on On the baffle of first round lateral surface, piston rod end is fixedly connected with five slide plates respectively by baffle；Ten cunnings Plate is slidably mounted on respectively in the groove of ten rectangular sliding sleeve medial surfaces；It is respectively provided with five in the outer part in the lateral surface of two first round A rectangular sliding sleeve, position is respectively in the outside of five the 9th hydraulic cylinders；It is fixedly mounted under seat plate above the sink Left side is leaned among face；It is fixedly mounted below sink above the sink scraper plate of five linear arrays；18 water pipes, Six groups are divided into, the water pipe of every group three linear arrays is fixedly mounted on sink in the following, its position is in two sink scraper plates Between；Two the tenth hydraulic cylinder body bottoms are respectively and fixedly installed at two angles forward below seat plate；Described two A 4th steering engine is placed straight down, and bottom is respectively and fixedly installed to the piston rod end of two the tenth hydraulic cylinders, motor Axis is fixedly connected with above two four-supportings respectively；Two the 4th axis of rolling are rotatably installed in two the 4th respectively The circular hole of the lateral surface of support base；Two second wheels are respectively and fixedly installed on two the 4th axis of rolling, position point Not in two four-supportings；Two the 7th stepper motors are horizontal positioned, and side is respectively and fixedly installed to two In the fixed plate of four-supporting lateral surface；It is fixedly mounted on above second support base below seat plate by rear side；It is described The third axis of rolling be rotatably installed in the subsequent circular hole of the second support base；The third stepper motor is horizontal positioned, side Face is fixedly mounted on seat plate in the following, its motor shaft is fixedly connected with the third axis of rolling；The second extension sleeve right end is fixed It is mounted on the third axis of rolling, position is equipped with groove in the second support base, in its left side；Second telescopic rod is right End is slidably mounted in the groove of the second extension sleeve left side；Its cylinder base of described 5th hydraulic cylinder is fixedly mounted on In the subsequent fixed plate of two extension sleeves, piston rod end is fixedly mounted in the subsequent fixed plate of the second telescopic rod；It is described The 4th stepper motor it is horizontal positioned, bottom is fixedly mounted on the second telescopic rod left side, motor shaft and third extension sleeve The right side is fixedly connected；Groove is equipped in third extension sleeve front end face；The flexible rod rear end of the third is slidably mounted on third In the groove of extension sleeve front end face；The cylinder body bottom end of 6th hydraulic cylinder is fixedly mounted on the third extension sleeve left side In fixed plate, piston rod end is fixedly connected with the baffle on the third telescopic rod left side；The third support base below by Arc-shaped support rod is fixedly mounted on third telescopic rod front end face；The rolling lint wheel is fixedly mounted in third support base In the shaft of side；The 5th stepper motor fixed plate is equipped on the third support base right side；The 5th stepper motor level is put It sets, side is fixedly mounted above the 5th stepper motor fixed plate, and the shaft of motor shaft and third support base medial surface is fixed Connection；5th axis of rolling is rotatably installed in the circular hole on the seat plate left side；The thigh support board is fixedly mounted on On five axis of rolling；5th steering engine is horizontal positioned, and side is fixedly mounted in the fixed plate on the seat plate right side, motor shaft It is fixedly connected with the 5th axis of rolling；6th axis of rolling is rotatably installed in the circular hole on the thigh support board left side；Described Step pedal is fixedly mounted on the 6th axis of rolling；The 6th steering engine fixed plate is equipped on the thigh support board right side；Described the 6th Steering engine is horizontal positioned, and side is fixedly mounted on the 6th steering engine fixed plate in the following, its motor shaft is fixedly connected with the 6th axis of rolling； The cylinder base of two the 11st hydraulic cylinders is respectively and fixedly installed to the left and right sides below step pedal；Described two 7th steering engine is placed straight down, and bottom is respectively and fixedly installed to two the 11st hydraulic cylinder piston rod end portions, motor shaft It is fixedly connected respectively with above two the 5th support bases；Two third rounds are fixedly mounted respectively in two the 5th support bases On the axis of rolling of side；Two the 8th stepper motors are horizontal positioned, and side is fixedly mounted on two the 5th support bases In the fixed plate of lateral surface, motor shaft is fixedly connected with the axis of rolling of two the 5th support base medial surfaces respectively；
The article placement part includes putting object plate, two grooves, the 7th axis of rolling, the 8th steering engine, the 8th steering engine to consolidate Fixed board, the left and right sides above object plate of putting are respectively provided with a groove；The object plate left end of putting is fixedly mounted on the 7th rolling On moving axis；8th steering engine is horizontal positioned, and bottom is fixedly mounted on before the 8th steering engine fixed plate, motor shaft with 7th axis of rolling is fixedly connected；
The end bowl part includes the 5th extension sleeve, the 12nd hydraulic cylinder, the 5th telescopic rod, the 9th steering engine, the 9th Steering engine fixed plate, the 8th axis of rolling, the 6th support base, the 13rd hydraulic cylinder, the tenth steering engine, the 7th support base, the tenth steering engine branch Fagging, the 6th extension sleeve, the 14th hydraulic cylinder, the 6th telescopic rod, the 11st steering engine, plate connector, two clamping bars, two A 15th hydraulic cylinder, first gear, the 9th stepper motor, the 9th stepper motor fixed plate, in the 5th extension sleeve upper surface Groove；The 5th telescopic rod lower end is slidably mounted in the groove of the 5th extension sleeve upper surface；12nd liquid Cylinder pressure cylinder base is fixedly mounted in the fixed plate on the 5th extension sleeve right side, piston rod end and the 5th telescopic rod right side Fixed plate be fixedly connected；The 9th stepper motor fixed plate is equipped on the 5th extension sleeve left side；9th stepper motor Horizontal positioned, side is fixedly mounted on the upper surface of the 9th stepper motor fixed plate, and motor shaft is fixedly connected with first gear； The 9th steering engine fixed plate is equipped on the 5th telescopic rod left side；9th steering engine is horizontal positioned, and side is fixedly mounted on the The upper surface of nine steering engine fixed plates, motor shaft is fixedly connected with the 6th support base right side；The cylinder body of 13rd hydraulic cylinder Bottom is fixedly mounted on the 6th support base left side, and piston rod end is fixedly connected with the 7th support base right side；Described the 8th The axis of rolling is rotatably installed in the circular hole of the medial surface of the 7th support base；The 6th extension sleeve upper end is fixedly mounted on On eight axis of rolling, groove is equipped in its lower end surface；The 6th telescopic rod upper end is slidably mounted on the 6th extension sleeve lower end In the groove in face, groove is equipped in its lower end surface；The 14th hydraulic cylinder body bottom is fixedly mounted on the 6th telescopic In the fixed plate on the cylinder left side, piston rod end is fixedly connected with the fixed plate on the 6th telescopic rod left side；Tenth steering engine Horizontal positioned, side is fixedly mounted on the tenth steering engine support plate left side, and motor shaft is fixedly connected with the 8th axis of rolling；It is described The 11st steering engine place straight down, side is fixedly mounted in the groove of the 6th telescopic rod lower end surface, motor shaft with It is fixedly connected above plate connector；Two the 15th hydraulic cylinder body bottom ends are respectively and fixedly installed to plate connector Front and back two sides, piston rod end are fixedly connected with two clamping bars respectively.
The feeding part includes fork, connecting plate, the 16th hydraulic cylinder, spoon, the 12nd steering engine, the 7th flexible Bar, the 7th extension sleeve, the 17th hydraulic cylinder, the 13rd steering engine, the 13rd steering engine fixed plate, the 8th telescopic rod, the 18th liquid Cylinder pressure, the 8th extension sleeve, the tenth stepper motor, the tenth stepper motor fixed plate, second gear, the 9th axis of rolling, the 8th Extension sleeve upper surface is equipped with groove, is equipped with the tenth stepper motor fixed plate on its right side；The 8th telescopic rod lower end is sliding Dynamic to be mounted in the groove of the 8th extension sleeve upper surface, end face is equipped with groove on it；18th hydraulic cylinder body Bottom is fixedly mounted on the upper of the fixed plate on the left of the 8th extension sleeve, the fixation of piston rod end and the 8th telescopic rod left side Plate is fixedly connected；Tenth stepper motor is horizontal positioned, and side is fixedly mounted on the upper of the tenth stepper motor fixed plate Face, motor shaft are fixedly connected with second gear；9th axis of rolling is rotatably installed in the 8th telescopic rod upper surface groove In the circular hole of medial surface；The 13rd steering engine fixed plate is equipped with before the 8th telescopic rod；13rd steering engine is horizontal positioned, Its side is fixedly mounted on above the 13rd steering engine fixed plate, and motor shaft is fixedly connected with the 9th axis of rolling；Described the 7th Extension sleeve left end is fixedly mounted on the 9th axis of rolling, is equipped with groove in its right side；The 7th telescopic rod left end is sliding It is dynamic to be mounted in the groove of the 7th extension sleeve right side；The 17th hydraulic cylinder body bottom is fixedly mounted on the 7th and stretches In fixed plate before contracting sleeve, piston rod end is fixedly connected with the fixed plate before the 7th telescopic rod；Described the tenth Two steering engines are horizontal positioned, and bottom is fixedly mounted on the right side of the 7th telescopic rod, and the left side of motor shaft and connecting plate is fixed Connection；The fork front end is fixedly mounted on behind connecting plate；Before the spoon rear end is fixedly mounted on connecting plate Face.
Beneficial effects of the present invention: two third steering engine rotations are controlled to band by the brain wave receiver of wheelchair main body Dynamic two cams rotation makes two opening-closing plates move down two the 7th hydraulic cylinders simultaneously and shrink respectively makes two opening-closing plates respectively It is mobile to two sides, it is hydraulic by third stepper motor and the rotation of the 4th stepper motor and the 6th when next step patient has gone up lavatory Cylinder and the 5th hydraulic cylinder elongation collective effect make lint wheel reach designated position, while driving hair by the rotation of the 5th stepper motor The rotation of suede wheel completes primary cleaning later by third stepper motor and the rotation of the 4th stepper motor and the 6th hydraulic cylinder and the 5th Hydraulic cylinder elongation collective effect reaches sink and carries out cleaning lint wheel, and when completion continues cleaning work, is repeated several times, The self-care ability for greatly strengthening patient solves the problems, such as that patient goes to toilet and people is needed to look after.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are overall structure diagram of the invention.
Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 are the structural schematic diagram of wheelchair main part of the invention.
Figure 11 is the structural schematic diagram of article placement part of the invention.
Figure 12, Figure 13 are the structural schematic diagram of end bowl part of the invention.
Figure 14, Figure 15 are the structural schematic diagram of feeding part of the invention.
Drawing reference numeral: 1- wheelchair main body, 2- article placement part, the end 3- bowl part, 4- feeding part, 101- backboard, 102- head plate, 103- first hydraulic cylinder, the first steering engine of 104- fixed plate, the first steering engine of 105-, the first stepper motor of 106- are solid Fixed board, the first stepper motor of 107-, first axis of rolling of 108-, 109- second hydraulic cylinder, 110- second stepper motor, 111- third Hydraulic cylinder, the first extension sleeve of 112-, the first telescopic rod of 113-, the 4th hydraulic cylinder of 114-, 115- brain wave receiver, 116- are sat Plate, second axis of rolling of 117-, the second steering engine of 118-, 119- arm supports bar, 120- rack gear, 121- dovetail groove, 122- sliding block, The first support base of 123-, 124- opening-closing plate, the second support base of 125-, the 126- third axis of rolling, 127- third stepper motor, 128- Second extension sleeve, the second telescopic rod of 129-, the 5th hydraulic cylinder of 130-, the 4th stepper motor of 131-, 132- third extension sleeve, The 6th hydraulic cylinder of 133-, 134- third telescopic rod, 135- roll lint wheel, 136- third support base, the 5th stepper motor of 137-, The 5th stepper motor fixed plate of 138-, the 7th hydraulic cylinder of 139-, the 7th hydraulic cylinder fixed plate of 140-, 141- third steering engine, 142- Third steering engine support base, 143- slide bar, 144- cam, 145- sink, 146- water pipe, 147- sink scraper plate, the connection of 148- wheel Bar, 149- spring, 150- damping slide bar, 151- damping slide bar fixed plate, the 4th extension sleeve of 152-, the 4th telescopic rod of 153-, The 8th hydraulic cylinder of 154-, the 6th stepper motor of 155-, the 156- first round, the 9th hydraulic cylinder of 157-, the rectangular sliding sleeve of 158-, 159- are sliding Plate, the tenth hydraulic cylinder of 160-, the 4th steering engine of 161-, the 4th axis of rolling of 162-, the wheel of 163- second, the 7th stepper motor of 164-, 165- four-supporting, the 7th stepper motor fixed plate of 166-, the 5th steering engine of 167-, the 5th axis of rolling of 168-, the leg 169- branch Fagging, the 6th steering engine fixed plate of 170-, the 6th steering engine of 171-, the 6th axis of rolling of 172-, 173- step pedal, the 11st liquid of 174- Cylinder pressure, the 7th steering engine of 175-, the 5th support base of 176-, the 8th stepper motor of 177-, 178- third round, 179- balustrade panel, 201- Put object plate, 202- groove, the 7th axis of rolling of 203-, the 8th steering engine of 204-, the 8th steering engine fixed plate of 205-, the 5th telescopic of 301- Cylinder, the 12nd hydraulic cylinder of 302-, the 5th telescopic rod of 303-, the 9th steering engine of 304-, the 9th steering engine fixed plate of 305-, 306- the 8th rolling Moving axis, the 6th support base of 307-, the 13rd hydraulic cylinder of 308-, the tenth steering engine of 309-, the 7th support base of 310-, the tenth steering engine of 311- Support plate, the 6th extension sleeve of 312-, the 14th hydraulic cylinder of 313-, the 6th telescopic rod of 314-, the 11st steering engine of 315-, 316- plate Block connector, 317- clamping bar, the 15th hydraulic cylinder of 318-, 319- first gear, the 9th stepper motor of 320-, the 9th step of 321- Into motor fixing plate, 401- fork, 402- connecting plate, the 16th hydraulic cylinder of 403-, 404- spoon, the 12nd steering engine of 405-, The 7th telescopic rod of 406-, the 7th extension sleeve of 407-, the 17th hydraulic cylinder of 408-, the 13rd steering engine of 409-, the 13rd rudder of 410- Machine fixed plate, the 8th telescopic rod of 411-, the 18th hydraulic cylinder of 412-, the 8th extension sleeve of 413-, the tenth stepper motor of 414-, The tenth stepper motor fixed plate of 415-, 416- second gear, the 9th axis of rolling of 417-.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Shown in Figure 15, a kind of intelligence disabled person auxiliary wheelchair, including wheelchair main body 1, article placement part 2, end bowl part 3, feeding portion Divide 4, it is characterised in that: the rear and front end of the 7th axis of rolling 203 of the article placement part 2 is rotatably installed in wheelchair respectively In the circular hole of two 123 medial surfaces of the first support base of main body 1,205 left side of the 8th steering engine fixed plate is fixedly mounted on by left side Balustrade panel 179 the right side lean on rear side；The left side of 5th extension sleeve 301 of the end bowl part 3 is fixedly mounted on wheelchair The lateral surface of the sliding block 122 on the right side of main body 1, first gear 319 are intermeshed with rack gear 120 on the right side；Described feeds 413 right side of the 8th extension sleeve of meal part 4 is fixedly mounted on the lateral surface of the sliding block 122 by left side of wheelchair main body 1, and second Gear 416 and the rack gear 120 by left side of wheelchair main body 1 are intermeshed.
The wheelchair main body 1 is fixed including backboard 101, head plate 102, two first hydraulic cylinders 103, the first steering engines Plate 104, the first steering engine 105, the first stepping motor fixing plate 106, the first stepper motor 107, first axis of rolling 108, the second liquid Cylinder pressure 109, second stepper motor 110, third hydraulic cylinder 111, the first extension sleeve 112, the first telescopic rod the 113, the 4th are hydraulic 118, six cylinder 114, brain wave receiver 115, seat plate 116, second axis of rolling 117, the second steering engine arm supports bars 119, two The support of the opening-closing plate 124, second of the first support base 123, two of sliding block 122, two of dovetail groove 121, two of a rack gear 120, two Seat 125, the third axis of rolling 126, third stepper motor 127, the second extension sleeve 128, the second telescopic rod 129, the 5th hydraulic cylinder 130, the 4th stepper motor 131, third extension sleeve 132, the 6th hydraulic cylinder 133, third telescopic rod 134, rolling lint wheel 135,138, two third support base 136, the 5th stepper motor 137, the 5th stepper motor fixed plate the 7th hydraulic cylinders 139, two The slide bar 143, two of third steering engine support base 142, four of third steering engine 141, two of a 7th hydraulic cylinder fixed plate 140, two Cam 144,146, four, the water pipe wheel connecting rod 148, two of sink scraper plate 147, eight of sink 145,18 spring 149, Two the 4th extension sleeves of damping slide bar fixed plate 151, two of damping slide bar 150, four, 152, two the 4th telescopic rods 153, Two the 8th hydraulic cylinders, 154, two the 9th hydraulic cylinders of the first round 156, ten of the 6th stepper motor 155, two, 157, ten sides The tenth hydraulic cylinder of 159, two, slide plate 160, two the 4th steering engines, 161, two the 4th axis of rolling 162, two of shape sliding sleeve 158, ten A second wheel, 163, two the 7th stepper motors, 164, two four-supportings, 165, two the 7th stepper motor fixed plates 166, 5th steering engine 167, the 5th axis of rolling 168, thigh support board 169, the 6th steering engine fixed plate 170, the rolling of the 6th steering engine the 171, the 6th Moving axis 172, step pedal 173, two the 11st hydraulic cylinders, 174, two the 7th steering engines, 175, two the 5th support bases 176, two The balustrade panel 179 of third round 178, two of a 8th stepper motor 177, two, the backboard 101 are a rectangular slabs Son, first axis of rolling 108 are rotatably installed in the circular hole at the top place in 101 left side of backboard；The head plate 102 Front end left and right ends are rotatably installed in first axis of rolling, 108 left and right ends respectively, are equipped with the first steering engine fixed plate on its right side 104；First steering engine 105 is horizontal positioned, and side is fixedly mounted on 104 front of the first steering engine fixed plate, motor shaft It is fixedly connected with first axis of rolling 108；The cylinder base of two first hydraulic cylinders 103 is respectively and fixedly installed to head plate The left and right sides, is respectively provided with a top plate in its piston rod end below 102；First stepper motor 107 is horizontal positioned, Side is fixedly mounted on above the first stepping motor fixing plate 106；The cylinder base and the first step of the second hydraulic cylinder 109 It is fixedly connected into 107 motor shaft of motor, piston rod end is fixedly connected with 110 side of second stepper motor；Described second Stepper motor 110 is horizontal positioned, and motor shaft is fixedly connected with 111 cylinder base of third hydraulic cylinder；The third hydraulic cylinder 111 piston rod end is fixedly connected with 112 left side of the first extension sleeve；Groove is equipped in 112 lower end surface of the first extension sleeve； First telescopic rod, 113 upper end is slidably mounted in the groove of 112 lower end surface of the first extension sleeve, lower end surface and brain electricity Wave receiver 115 is fixedly connected above；The cylinder base of 4th hydraulic cylinder 114 is fixedly mounted on the first extension sleeve On the baffle on 112 right sides, piston rod end is fixedly connected with the baffle on 113 right side of the first telescopic rod；Described second rolls Axis 117 is rotatably installed in the circular hole of 101 left side of backboard on the lower；It is rotated respectively at left and right sides of the rear end of the seat plate 116 It is mounted on second axis of rolling, 117 left and right ends；Second steering engine 118 is horizontal positioned, and side is fixedly mounted on seat plate 116 In the fixed plate of rear side, motor shaft is fixedly connected with second axis of rolling 117 on the right side；On seat plate 116 each side If there are three the arm supports bars 119 of linear array；Six arm supports bars 119 are divided into two groups, every group of upper end Face is fixedly connected with two balustrade panels 179 below respectively；A dovetail groove 121 is respectively provided in the lateral surface of two balustrade panels 179； Two sliding blocks 122 are slidably mounted on respectively in two dovetail grooves 121；It is respectively set in the outer part below two balustrade panels 179 There is a rack gear 120, there are two the first support bases 123 leaning on the medial surface front of left armrests plate 179 to set；Described two The lateral surface of opening-closing plate 124 is slidably mounted on circular hole medial surface intermediate above seat plate 116 respectively；Described two the 7th hydraulic Cylinder fixed plate 140 is respectively and fixedly installed to the intermediate left and right sides below of seat plate 116 above；Two the 7th hydraulic cylinders 139 Cylinder base is respectively and fixedly installed to the medial surface of two the 7th hydraulic cylinder fixed plates 140, piston rod end respectively with two The lateral surface of third steering engine support base 142 is fixedly connected；Two third steering engines 141 are horizontal positioned, and bottom is solid respectively In two third steering engine support bases 142, motor shaft is fixedly connected with two cams 144 respectively for Dingan County；Described four Slide bar 143, in pairs, the upper surface of every group of slide bar 143 are fixedly connected below with opening-closing plate 124, and peace is slided in lower end respectively In the groove of front and rear sides above third steering engine support base 142；Four are respectively provided at two angles below the seat plate 116 rearward The wheel connecting rod 148 of a rectangular array；Eight wheel connecting rods 148 are divided into two groups, every group of wheel connecting rod 148 lower end surface is fixedly connected above with upper damping slide bar fixed plate 151；Two 150 lower ends of damping slide bar The upper surface of two damping slide bar fixed plates 151 on the lower are respectively and fixedly installed to, the upper end is slidably mounted on upper respectively Two slide bar fixed plates 151 below in intermediate circular hole, end face is respectively provided with a baffle on it；Two springs 149 upper ends are respectively and fixedly installed to below two upper damping slide bar fixed plates 151, and lower end is respectively and fixedly installed to Two the upper surface of damping slide bar fixed plates 151 on the lower；The upper surface of two the 4th extension sleeves 152 is fixed respectively It is mounted below two damping slide bar fixed plates 151 on the lower, is equipped with groove in its lower end surface；Described two the 4th stretch 153 upper end of contracting bar is slidably mounted on respectively in the groove of two 152 lower end surfaces of the 4th extension sleeve；Described two the 8th hydraulic 154 cylinder base of cylinder is respectively and fixedly installed in the fixed plate of two 152 medial surfaces of the 4th extension sleeve, tailpiece of the piston rod part It is not fixedly connected with the baffle of two 153 medial surfaces of the 4th telescopic rod；Two the 6th stepper motors 155 are horizontal positioned, Its side is respectively and fixedly installed in the fixed plate of two 153 lateral surfaces of the 4th telescopic rod, motor shaft respectively with two first It takes turns and is fixedly connected among 156 medial surfaces；Ten the 9th hydraulic cylinders 157, are divided into two groups, every group five circumferentially arrays The cylinder base of the 9th hydraulic cylinder 157 be fixedly mounted on the baffle of 156 lateral surface of the first round, piston rod end passes through gear Plate is fixedly connected with five slide plates 159 respectively；Ten slide plates 159 are slidably mounted on respectively in ten rectangular sliding sleeves 158 In the groove of side；It is respectively provided with five rectangular sliding sleeves 158 in the outer part in the lateral surface of two first round 156, position exists respectively The outside of five the 9th hydraulic cylinders 157；The sink 145 is fixedly mounted on intermediate by left side below seat plate 116 above；Five The sink scraper plate 147 of a linear array is fixedly mounted below sink 145 above；18 water pipes 146, are divided into Six groups, the water pipe 146 of every group three linear arrays is fixedly mounted on sink 145 in the following, its position is in two sink scraper plates 147 It is intermediate；Two 160 cylinder bases of the tenth hydraulic cylinder are respectively and fixedly installed at two angles forward below seat plate 116； Two the 4th steering engines 161 are placed straight down, and bottom is respectively and fixedly installed to the piston of two the tenth hydraulic cylinders 160 Boom end, motor shaft are fixedly connected with two four-supportings 165 above respectively；Two the 4th axis of rolling 162 divide It is not rotatably installed in the circular hole of the lateral surface of two four-supportings 165；Two second wheels 163 are respectively and fixedly installed to On two the 4th axis of rolling 162, position is respectively in two four-supportings 165；Two the 7th stepper motors 164 Horizontal positioned, side is respectively and fixedly installed in the fixed plate of two 165 lateral surfaces of four-supporting；Second support Seat 125 is fixedly mounted on seat plate 116 below by rear side above；The third axis of rolling 126 is rotatably installed in the second support base In 125 subsequent circular holes；The third stepper motor 127 is horizontal positioned, side is fixedly mounted on seat plate 116 in the following, its Motor shaft is fixedly connected with the third axis of rolling 126；Second extension sleeve, 128 right end is fixedly mounted on the third axis of rolling On 126, position is equipped with groove in the second support base 125, in its left side；Second telescopic rod, the 129 right end sliding It is mounted in the groove of 128 left side of the second extension sleeve；Its cylinder base of described 5th hydraulic cylinder 130 is fixedly mounted on In the subsequent fixed plate of two extension sleeve 128, piston rod end is fixedly mounted on the subsequent fixed plate of the second telescopic rod 129 On；4th stepper motor 131 is horizontal positioned, and bottom is fixedly mounted on 129 left side of the second telescopic rod, motor shaft with 132 right side of third extension sleeve is fixedly connected；Groove is equipped in 132 front end face of third extension sleeve；The third telescopic rod 134 rear ends are slidably mounted in the groove of 132 front end face of third extension sleeve；The cylinder body bottom end of 6th hydraulic cylinder 133 It is fixedly mounted in the fixed plate on 132 left side of third extension sleeve, the baffle of piston rod end and 134 left side of third telescopic rod It is fixedly connected；The third support base 136 is fixedly mounted on 134 front end of third telescopic rod below by arc-shaped support rod Face；The rolling lint wheel 135 is fixedly mounted in the shaft of 136 medial surface of third support base；It is right in third support base 136 Face is equipped with the 5th stepper motor fixed plate 138；5th stepper motor 137 is horizontal positioned, and side is fixedly mounted the 5th Above stepper motor fixed plate 138, motor shaft is fixedly connected with the shaft of 136 medial surface of third support base；Described the 5th The axis of rolling 168 is rotatably installed in the circular hole on 116 left side of seat plate；The thigh support board 169 is fixedly mounted on the 5th rolling On axis 168；5th steering engine 167 is horizontal positioned, and side is fixedly mounted in the fixed plate on 116 right side of seat plate, electricity Arbor is fixedly connected with the 5th axis of rolling 168；6th axis of rolling 172 is rotatably installed in 169 left side of thigh support board In circular hole；The step pedal 173 is fixedly mounted on the 6th axis of rolling 172；The 6th is equipped on 169 right side of thigh support board Steering engine fixed plate 170；6th steering engine 171 is horizontal positioned, and side is fixedly mounted under the 6th steering engine fixed plate 170 Face, motor shaft are fixedly connected with the 6th axis of rolling 172；The cylinder base of two the 11st hydraulic cylinders 174 is solid respectively Dingan County left and right sides below step pedal 173；Two the 7th steering engines 175 are placed straight down, bottom difference Two 174 piston rod ends of the 11st hydraulic cylinder are fixedly mounted on, motor shaft is solid above with two the 5th support bases 176 respectively Fixed connection；Two third rounds 178 are fixedly mounted respectively on the axis of rolling of two 176 medial surfaces of the 5th support base；It is described Two the 8th stepper motors 177 it is horizontal positioned, side is fixedly mounted on the fixed plate of two 176 lateral surfaces of the 5th support base On, motor shaft is fixedly connected with the axis of rolling of two 176 medial surfaces of the 5th support base respectively；
The article placement part 2 includes putting object plate 201, two grooves 202, the 7th axis of rolling 203, the 8th steering engine 204, the 8th steering engine fixed plate 205, the left and right sides is respectively provided with a groove 202 to the object plate 201 of putting above；Described puts object 201 left end of plate is fixedly mounted on the 7th axis of rolling 203；8th steering engine 204 is horizontal positioned, and bottom is fixedly mounted on Before 8th steering engine fixed plate 205, motor shaft is fixedly connected with the 7th axis of rolling 203；
The end bowl part 3 includes the 5th extension sleeve 301, the 12nd hydraulic cylinder 302, the 5th telescopic rod the 303, the 9th Steering engine 304, the 9th steering engine fixed plate 305, the 8th axis of rolling 306, the 6th support base 307, the 13rd hydraulic cylinder 308, the tenth rudder Machine 309, the 7th support base 310, the tenth steering engine support plate 311, the 6th extension sleeve 312, the 14th hydraulic cylinder the 313, the 6th are stretched Contracting bar 314, the 11st steering engine 315, plate connector 316, two clamping bar 317, two the 15th hydraulic cylinder 318, the first tooth The 319, the 9th stepper motor 320, the 9th stepper motor fixed plate 321 are taken turns, in 301 upper surface groove of the 5th extension sleeve；It is described 303 lower end of the 5th telescopic rod be slidably mounted in the groove of 301 upper surface of the 5th extension sleeve；12nd hydraulic cylinder 302 cylinder bases are fixedly mounted in the fixed plate on 301 right side of the 5th extension sleeve, piston rod end and the 5th telescopic rod The fixed plate on 303 right sides is fixedly connected；The 9th stepper motor fixed plate 321 is equipped on 301 left side of the 5th extension sleeve；Described 9th stepper motor 320 is horizontal positioned, and side is fixedly mounted on the upper surface of the 9th stepper motor fixed plate 321, motor shaft It is fixedly connected with first gear 319；The 9th steering engine fixed plate 305 is equipped on 303 left side of the 5th telescopic rod；9th steering engine 304 is horizontal positioned, and side is fixedly mounted on the upper surface of the 9th steering engine fixed plate 305, and motor shaft and the 6th support base 307 are right Face is fixedly connected；The cylinder base of 13rd hydraulic cylinder 308 is fixedly mounted on 307 left side of the 6th support base, piston Boom end is fixedly connected with 310 right side of the 7th support base；8th axis of rolling 306 is rotatably installed in the 7th support base 310 Medial surface circular hole in；6th extension sleeve, 312 upper end is fixedly mounted on the 8th axis of rolling 306, in its lower end Face is equipped with groove；6th telescopic rod, 314 upper end is slidably mounted in the groove of 312 lower end surface of the 6th extension sleeve, Its lower end surface is equipped with groove；14th hydraulic cylinder, 313 cylinder base is fixedly mounted on 312 left side of the 6th extension sleeve In fixed plate, piston rod end is fixedly connected with the fixed plate on 314 left side of the 6th telescopic rod；Tenth steering engine, 309 water Placing flat, side are fixedly mounted on 311 left side of the tenth steering engine support plate, and motor shaft is fixedly connected with the 8th axis of rolling 306； 11st steering engine 315 is placed straight down, and side is fixedly mounted in the groove of 314 lower end surface of the 6th telescopic rod, Its motor shaft is fixedly connected above with plate connector 316；Two 318 cylinder body bottom ends of the 15th hydraulic cylinder are fixed respectively It is mounted on 316 front and back two sides of plate connector, piston rod end is fixedly connected with two clamping bars 317 respectively.
The feeding part 4 includes fork 401, connecting plate 402, the 16th hydraulic cylinder 403, spoon 404, the 12nd rudder Machine 405, the 7th telescopic rod 406, the 7th extension sleeve 407, the 17th hydraulic cylinder 408, the 13rd steering engine 409, the 13rd steering engine Fixed plate 410, the 8th telescopic rod 411, the 18th hydraulic cylinder 412, the 8th extension sleeve 413, the tenth stepper motor the 414, the tenth Stepper motor fixed plate 415, second gear 416, the 9th axis of rolling 417 are equipped with groove in 413 upper surface of the 8th extension sleeve, The tenth stepper motor fixed plate 415 is equipped on its right side；8th telescopic rod, 411 lower end is slidably mounted on the 8th telescopic In the groove of 413 upper surfaces of cylinder, end face is equipped with groove on it；18th hydraulic cylinder, 412 cylinder base is fixedly mounted The left side of the 8th extension sleeve 413 fixed plate it is upper, the fixed plate of piston rod end and 411 left side of the 8th telescopic rod is fixed Connection；Tenth stepper motor 414 is horizontal positioned, and side is fixedly mounted on the upper of the tenth stepper motor fixed plate 415 Face, motor shaft are fixedly connected with second gear 416；9th axis of rolling 417 is rotatably installed on the 8th telescopic rod 411 In the circular hole of facing groove medial surface；The 13rd steering engine fixed plate 410 is equipped with before the 8th telescopic rod 411；Described the tenth Three steering engines 409 are horizontal positioned, and side is fixedly mounted on above the 13rd steering engine fixed plate 410, and motor shaft and the 9th rolls Axis 417 is fixedly connected；7th extension sleeve, 407 left end is fixedly mounted on the 9th axis of rolling 417, is set in its right side It is fluted；7th telescopic rod, 406 left end is slidably mounted in the groove of 407 right side of the 7th extension sleeve；Described 17th hydraulic cylinder, 408 cylinder base is fixedly mounted in the fixed plate of the front of the 7th extension sleeve 407, piston rod end with The fixed plate of 7th telescopic rod, 406 front is fixedly connected；12nd steering engine 405 is horizontal positioned, and bottom is fixedly mounted In the right side of the 7th telescopic rod 406, motor shaft is fixedly connected with the left side of connecting plate 402；401 front end of fork is solid Dingan County is behind connecting plate 402；404 rear end of spoon is fixedly mounted on before connecting plate 402.
Working principle of the present invention: patient is put on auxiliary vehicle by the present invention first when in use, passes through wheelchair master in next step The rotation of the first stepper motor 107 and second stepper motor 110 of body 1 and second hydraulic cylinder 109, third hydraulic cylinder 111 and The elongation of four hydraulic cylinders 114 cooperates and is moved to brain wave receiver 115 on patient's head, in next step when patient needs to go to toilet When, the brain of patient controls two the 6th stepper motors, 155, two the 7th steps by the brain wave receiver 115 of wheelchair main body 1 Drive two first round 156, two second wheels 163 and two respectively into motor 164 and two the 8th stepper motor 177 rotations Third round 178 makes its advance, controls auxiliary vehicle by two the 4th steering engines 161 and two the 7th steering engine 175 rotations in next step The direction of advance makes it reach designated position, controls ten the 9th hydraulic cylinders by brain wave receiver 115 when encountering step 157 elongations drive the stretching of ten slide plates 159 to make that vehicle is assisted to have climbing function respectively, pass through ten the 9th liquid of control when up Cylinder pressure 157, which retracts, drives ten retractions of slide plate 159 to make that vehicle is assisted to have the function of planar movement, in next step when auxiliary vehicle is moved to horse When bucket top, patient controls two rotations of third steering engine 141 by the brain wave receiver 115 of wheelchair main body 1 to drive two The rotation of a cam 144 makes two opening-closing plates 124 move down two the 7th hydraulic cylinders 139 simultaneously and shrink respectively makes two to open respectively Plywood 124 is mobile to two sides, when next step patient has gone up lavatory, passes through 131 turns of third stepper motor 127 and the 4th stepper motor It is dynamic so that lint wheel 135 is reached designated position with the 6th hydraulic cylinder 133 and the 5th hydraulic cylinder 130 elongation collective effect, pass through simultaneously The rotation of 5th stepper motor 137 drives the rotation of lint wheel 135 to complete to pass through third stepper motor 127 and the 4th after primary cleaning The rotation of stepper motor 131 reaches sink 145 and is cleaned with the 6th hydraulic cylinder 133 and the 5th hydraulic cylinder 130 elongation collective effect Lint wheel 135, when completion, continue cleaning work, are repeated several times, are rotated when needing to have a meal by the 8th steering engine 204 Control is put object plate 201 and is put down to place the tablewares such as bowl, rotates control terminal bowl part 3 by the 9th stepper motor 320 in next step Movement, by the 12nd hydraulic cylinder 302 and the 13rd hydraulic cylinder 308 elongation make mechanical arm close to bowl, pass through the 9th steering engine 304 The direction that control mechanical arm is rotated with the tenth steering engine 309 controls two clamping bars 317 by the rotation of the 11st steering engine 315 and rotates, So that two clamping bars 317 is clamped bowl by two the 15th hydraulic cylinder 318 contractions, bowl is sent to by patient's mouth by above step Side, in next step by the tenth stepper motor 414, the 13rd steering engine 409 and the 12nd steering engine 405 and the 18th hydraulic cylinder 412 and The collaborative work of 17th hydraulic cylinder 408 elongation makes fork 401 and spoon 404 complete feeding function, when patient needs during sleep Make backboard 101, head plate by the rotation of the first steering engine 105, the second steering engine 118, the 6th steering engine 171 and the 5th steering engine 167 102, seat plate 116 and step pedal 173 make that vehicle is assisted to be transformed into bed in same plane, pass through two first hydraulic cylinder 103, two 8th the tenth hydraulic cylinder 160 of hydraulic cylinder 154, two and two the 11st hydraulic cylinder 174 elongations make a supporting stabilizer.

Claims (1)

1. a kind of intelligence disabled person assists wheelchair, including wheelchair main body (1), article placement part (2), end bowl part (3), feeding Partially (4), it is characterised in that: the rear and front end of the 7th axis of rolling (203) of the article placement part (2) rotates peace respectively In the circular hole of two the first support base (123) medial surfaces of wheelchair main body (1), the 8th steering engine fixed plate (205) left side is solid Rear side is leaned on the right side that Dingan County is mounted in the balustrade panel (179) by left side；5th extension sleeve (301) of the end bowl part (3) The left side be fixedly mounted on wheelchair main body (1) sliding block (122) on the right side lateral surface, first gear (319) on the right side Rack gear (120) intermeshing；The 8th extension sleeve (413) right side of the feeding part (4) is fixedly mounted on wheelchair master The lateral surface of the sliding block (122) by left side of body (1), the rack gear by left side of second gear (416) and wheelchair main body (1) (120) it is intermeshed；
The wheelchair main body (1) includes backboard (101), head plate (102), two first hydraulic cylinders (103), the first steering engines Fixed plate (104), the first steering engine (105), the first stepping motor fixing plate (106), the first stepper motor (107), first roll Axis (108), second hydraulic cylinder (109), second stepper motor (110), third hydraulic cylinder (111), the first extension sleeve (112), First telescopic rod (113), the 4th hydraulic cylinder (114), brain wave receiver (115), seat plate (116), second axis of rolling (117), Second steering engine (118), six arm supports bars (119), two rack gears (120), two dovetail grooves (121), two sliding blocks (122), two the first support bases (123), two opening-closing plates (124), the second support base (125), the third axis of rolling (126), Three stepper motors (127), the second extension sleeve (128), the second telescopic rod (129), the 5th hydraulic cylinder (130), the 4th stepping electricity Machine (131), the 6th hydraulic cylinder (133), third telescopic rod (134), rolls lint wheel (135), the at third extension sleeve (132) Three support bases (136), the 5th stepper motor (137), the 5th stepper motor fixed plate (138), two the 7th hydraulic cylinders (139), Two the 7th hydraulic cylinder fixed plates (140), two third steering engines (141), two third steering engine support bases (142), four slide bars (143), two cams (144), sink (145), 18 water pipes (146), four sink scraper plates (147), eight wheel connections Bar (148), two springs (149), two damping slide bars (150), four damping slide bar fixed plates (151), two the 4th it is flexible Sleeve (152), two the 4th telescopic rods (153), two the 8th hydraulic cylinders (154), two the 6th stepper motors (155), two The first round (156), ten the 9th hydraulic cylinders (157), ten rectangular sliding sleeves (158), ten slide plates (159), two it is the tenth hydraulic Cylinder (160), two the 4th steering engines (161), two the 4th axis of rolling (162), two the second wheels (163), two the 7th stepping electricity Machine (164), two four-supportings (165), two the 7th stepper motor fixed plates (166), the 5th steering engine (167), the 5th rolling Moving axis (168), thigh support board (169), the 6th steering engine fixed plate (170), the 6th steering engine (171), the 6th axis of rolling (172), Step pedal (173), two the 11st hydraulic cylinders (174), two the 7th steering engines (175), two the 5th support bases (176), two A 8th stepper motor (177), two third rounds (178), two balustrade panels (179), the backboard (101) are one long Rectangular plank, first axis of rolling (108) are rotatably installed in the circular hole at backboard (101) the top place in the left side；Described The front end left and right ends of head plate (102) are rotatably installed in first axis of rolling (108) left and right ends respectively, are equipped with the on its right side One steering engine fixed plate (104)；First steering engine (105) is horizontal positioned, and side is fixedly mounted on the first steering engine fixed plate (104) front, motor shaft are fixedly connected with first axis of rolling (108)；The cylinder body bottom of two first hydraulic cylinders (103) Portion is respectively and fixedly installed to head plate (102) left and right sides below, is respectively provided with a top plate in its piston rod end；Described One stepper motor (107) is horizontal positioned, and side is fixedly mounted on the first stepping motor fixing plate (106) above；Described The cylinder base of two hydraulic cylinders (109) is fixedly connected with the first stepper motor (107) motor shaft, piston rod end and second step It is fixedly connected into motor (110) side；The second stepper motor (110) is horizontal positioned, motor shaft and third hydraulic cylinder (111) cylinder base is fixedly connected；The piston rod end and the first extension sleeve (112) of the third hydraulic cylinder (111) are left Face is fixedly connected；Groove is equipped in the first extension sleeve (112) lower end surface；Slide peace in first telescopic rod (113) upper end In the groove of the first extension sleeve (112) lower end surface, lower end surface is fixedly connected above with brain wave receiver (115)； The cylinder base of 4th hydraulic cylinder (114) is fixedly mounted on the baffle on the first extension sleeve (112) right side, piston Boom end is fixedly connected with the baffle on the first telescopic rod (113) right side；Second axis of rolling (117) is rotatably installed in backrest In the circular hole of plate (101) left side on the lower；It is rotatably installed in second axis of rolling respectively at left and right sides of the rear end of the seat plate (116) (117) left and right ends；Second steering engine (118) is horizontal positioned, and side is fixedly mounted on seat plate (116) right side by rear side Fixed plate on, motor shaft is fixedly connected with second axis of rolling (117)；In seat plate (116), the left and right sides is respectively provided with three above The arm supports bar (119) of a linear array；Six arm supports bars (119) are divided into two groups, every group of upper surface It is fixedly connected below with two balustrade panels (179) respectively；A dovetail groove is respectively provided in the lateral surface of two balustrade panels (179) (121)；It is inner that two sliding blocks (122) are slidably mounted on two dovetail grooves (121) respectively；Under two balustrade panels (179) Face is respectively provided with a rack gear (120) in the outer part, and leaning on the medial surface front of left armrests plate (179) to set, there are two the first supports Seat (123)；The lateral surface of two opening-closing plates (124) is slidably mounted on seat plate (116) above in intermediate circular hole respectively Side；Two the 7th hydraulic cylinder fixed plates (140) are respectively and fixedly installed to seat plate (116) intermediate left and right two below above Side；Two the 7th described hydraulic cylinder (139) cylinder bases are respectively and fixedly installed to two the 7th hydraulic cylinder fixed plates (140) Medial surface, piston rod end are fixedly connected with the lateral surface of two third steering engine support bases (142) respectively；Described two Three steering engines (141) are horizontal positioned, and bottom is respectively and fixedly installed in two third steering engine support bases (142), motor shaft point It is not fixedly connected with two cams (144)；Four slide bars (143), in pairs, the upper surface of every group of slide bar (143) It is fixedly connected below with opening-closing plate (124), lower end is slidably mounted on third steering engine support base (142) front and rear sides above respectively Groove in；The wheel connecting rod (148) of four rectangular arrays is respectively provided at two angles of seat plate (116) below rearward； Eight wheel connecting rods (148) are divided into two groups, and lower end surface and upper of every group of wheel connecting rod (148) subtract Shake slide bar fixed plate (151) is fixedly connected above；Two damping slide bar (150) lower ends are respectively and fixedly installed on the lower The upper surface of two damping slide bar fixed plates (151), the upper end is slidably mounted on two upper slide bar fixed plates respectively (151) below in the circular hole of centre, end face is respectively provided with a baffle on it；Two spring (149) upper ends are solid respectively Below two upper damping slide bar fixed plates (151), lower end is respectively and fixedly installed to two on the lower for Dingan County The upper surface of damping slide bar fixed plate (151)；The upper surface of two the 4th extension sleeves (152) is respectively and fixedly installed to Below two damping slide bar fixed plates (151) on the lower, groove is equipped in its lower end surface；Two the 4th telescopic rods (153) upper end is slidably mounted on respectively in the groove of two the 4th extension sleeve (152) lower end surfaces；Described two the 8th hydraulic Cylinder (154) cylinder base is respectively and fixedly installed in the fixed plate of two the 4th extension sleeve (152) medial surfaces, tailpiece of the piston rod Portion is fixedly connected with the baffle of two the 4th telescopic rod (153) medial surfaces respectively；Two the 6th described stepper motor (155) water Placing flat, side are respectively and fixedly installed in the fixed plate of two the 4th telescopic rod (153) lateral surfaces, motor shaft respectively with It is fixedly connected among two first round (156) medial surfaces；Ten the 9th hydraulic cylinders (157), are divided into two groups, every group five The cylinder base of 9th hydraulic cylinder (157) of a circumferentially array is fixedly mounted on the baffle of the first round (156) lateral surface, Piston rod end is fixedly connected with five slide plates (159) respectively by baffle；Ten slide plates (159) are slidably installed respectively In the groove of ten rectangular sliding sleeve (158) medial surfaces；It is respectively provided with five sides in the outer part in the lateral surface of two first round (156) Shape sliding sleeve (158), position is respectively in the outside of five the 9th hydraulic cylinders (157)；The sink (145) is fixedly mounted above It is intermediate below seat plate (116) to lean on left side；The sink scraper plate (147) of five linear arrays is fixedly mounted on sink above (145) below；18 water pipes (146) are divided into six groups, and the water pipe (146) of every group three linear arrays is fixed Sink (145) is mounted in the following, its position is intermediate in two sink scraper plates (147)；Two the tenth described hydraulic cylinder (160) cylinders Body bottom is respectively and fixedly installed at two angles forward below seat plate (116)；Two the 4th steering engines (161) vertically to Lower placement, bottom are respectively and fixedly installed to the piston rod end of two the tenth hydraulic cylinders (160), motor shaft respectively with two Four-supporting (165) is fixedly connected above；Two the 4th axis of rolling (162) are rotatably installed in two the 4th respectively Support the circular hole of the lateral surface of seat (165)；Two second wheels (163) are respectively and fixedly installed to two the 4th axis of rolling (162) on, position is respectively in two four-supportings (165)；Two the 7th described stepper motor (164) levels are put It sets, side is respectively and fixedly installed in the fixed plate of two four-supporting (165) lateral surfaces；Second support base (125) it is fixedly mounted on seat plate (116) above below by rear side；The third axis of rolling (126) is rotatably installed in second It supports in seat (125) subsequent circular hole；The third stepper motor (127) is horizontal positioned, and side is fixedly mounted on seat plate (116) in the following, its motor shaft is fixedly connected with the third axis of rolling (126)；The fixed peace of second extension sleeve (128) right end On the third axis of rolling (126), position is equipped with groove in the second support base (125), in its left side；Described second Telescopic rod (129) right end is slidably mounted in the groove of the second extension sleeve (128) left side；5th hydraulic cylinder (130) its cylinder base is fixedly mounted in the second extension sleeve (128) subsequent fixed plate, and piston rod end is fixedly mounted In the second telescopic rod (129) subsequent fixed plate；4th stepper motor (131) is horizontal positioned, the fixed peace in bottom Mounted in the second telescopic rod (129) left side, motor shaft is fixedly connected with third extension sleeve (132) right side；In third telescopic Cylinder (132) front end face is equipped with groove；Before described third telescopic rod (134) rear end is slidably mounted on third extension sleeve (132) In the groove of end face；The cylinder body bottom end of 6th hydraulic cylinder (133) is fixedly mounted on third extension sleeve (132) left side In fixed plate, piston rod end is fixedly connected with the baffle on third telescopic rod (134) left side；The third support base (136) third telescopic rod (134) front end face is fixedly mounted below by arc-shaped support rod；The rolling lint wheel (135) it is fixedly mounted in the shaft of third support base (136) medial surface；The 5th step is equipped on third support base (136) right side Into motor fixing plate (138)；5th stepper motor (137) is horizontal positioned, and the 5th stepper motor is fixedly mounted in side Above, motor shaft is fixedly connected fixed plate (138) with the shaft of third support base (136) medial surface；Described the 5th rolls Axis (168) is rotatably installed in the circular hole on seat plate (116) left side；The thigh support board (169) is fixedly mounted on the 5th rolling On moving axis (168)；5th steering engine (167) is horizontal positioned, and side is fixedly mounted on the fixed plate on seat plate (116) right side On, motor shaft is fixedly connected with the 5th axis of rolling (168)；6th axis of rolling (172) is rotatably installed in thigh support In the circular hole on plate (169) left side；The step pedal (173) is fixedly mounted on the 6th axis of rolling (172)；In thigh support Plate (169) right side is equipped with the 6th steering engine fixed plate (170)；6th steering engine (171) is horizontal positioned, and side is fixedly mounted In the 6th steering engine fixed plate (170) in the following, its motor shaft is fixedly connected with the 6th axis of rolling (172)；Described two the 11st The cylinder base of hydraulic cylinder (174) is respectively and fixedly installed to step pedal (173) left and right sides below；Two the 7th rudders Machine (175) is placed straight down, and bottom is respectively and fixedly installed to two the 11st hydraulic cylinder (174) piston rod ends, electricity Arbor is fixedly connected with two the 5th support bases (176) above respectively；Two third rounds (178) are fixedly mounted two respectively On the axis of rolling of a 5th support base (176) medial surface；Two the 8th stepper motors (177) are horizontal positioned, side Be fixedly mounted in the fixed plate of two the 5th support base (176) lateral surfaces, motor shaft respectively with two the 5th support bases (176) axis of rolling of medial surface is fixedly connected；
The article placement part (2) includes putting object plate (201), two grooves (202), the 7th axis of rolling (203), the 8th rudder Machine (204), the 8th steering engine fixed plate (205), the left and right sides is respectively provided with a groove (202) to the object plate (201) of putting above； Described object plate (201) left end of putting is fixedly mounted on the 7th axis of rolling (203)；8th steering engine (204) is horizontal positioned, Its bottom is fixedly mounted on before the 8th steering engine fixed plate (205), and motor shaft is fixedly connected with the 7th axis of rolling (203)；
The described end bowl part (3) include the 5th extension sleeve (301), the 12nd hydraulic cylinder (302), the 5th telescopic rod (303), It is 9th steering engine (304), the 9th steering engine fixed plate (305), the 8th axis of rolling (306), the 6th support base (307), the 13rd hydraulic Cylinder (308), the tenth steering engine (309), the 7th support base (310), the tenth steering engine support plate (311), the 6th extension sleeve (312), 14th hydraulic cylinder (313), the 6th telescopic rod (314), the 11st steering engine (315), plate connector (316), two clamping bars (317), two the 15th hydraulic cylinders (318), first gear (319), the 9th stepper motor (320), the 9th stepper motors are fixed Plate (321), in the 5th extension sleeve (301) upper surface groove；The 5th described telescopic rod (303) lower end is slidably mounted on the 5th In the groove of extension sleeve (301) upper surface；It is flexible that the 12nd described hydraulic cylinder (302) cylinder base is fixedly mounted on the 5th In the fixed plate on sleeve (301) right side, piston rod end is fixedly connected with the fixed plate on the 5th telescopic rod (303) right side；? 5th extension sleeve (301) left side is equipped with the 9th stepper motor fixed plate (321)；9th stepper motor (320) is horizontal It places, side is fixedly mounted on the upper surface of the 9th stepper motor fixed plate (321), and motor shaft and first gear (319) are solid Fixed connection；The 9th steering engine fixed plate (305) is equipped on the 5th telescopic rod (303) left side；The 9th described steering engine (304) level is put It sets, side is fixedly mounted on the upper surface of the 9th steering engine fixed plate (305), and motor shaft and the 6th support base (307) right side are solid Fixed connection；The cylinder base of 13rd hydraulic cylinder (308) is fixedly mounted on the 6th support base (307) left side, piston Boom end is fixedly connected with the 7th support base (310) right side；8th axis of rolling (306) is rotatably installed in the 7th support base (310) in the circular hole of medial surface；The 6th described extension sleeve (312) upper end is fixedly mounted on the 8th axis of rolling (306), Groove is equipped in its lower end surface；The 6th described telescopic rod (314) upper end is slidably mounted on the 6th extension sleeve (312) lower end surface Groove in, its lower end surface be equipped with groove；It is flexible that the 14th described hydraulic cylinder (313) cylinder base is fixedly mounted on the 6th In the fixed plate on sleeve (312) left side, piston rod end is fixedly connected with the fixed plate on the 6th telescopic rod (314) left side；Institute The tenth steering engine (309) stated is horizontal positioned, and side is fixedly mounted on the tenth steering engine support plate (311) left side, motor shaft with 8th axis of rolling (306) is fixedly connected；11st steering engine (315) is placed straight down, and side is fixedly mounted on In the groove of six telescopic rods (314) lower end surface, motor shaft is fixedly connected above with plate connector (316)；Described two 15th hydraulic cylinder (318) cylinder body bottom end is respectively and fixedly installed to two sides before and after plate connector (316), tailpiece of the piston rod part It is not fixedly connected with two clamping bars (317)；
The feeding part (4) includes fork (401), connecting plate (402), the 16th hydraulic cylinder (403), spoon (404), 12 steering engines (405), the 7th telescopic rod (406), the 7th extension sleeve (407), the 17th hydraulic cylinder (408), the 13rd steering engine (409), the 13rd steering engine fixed plate (410), the 8th telescopic rod (411), the 18th hydraulic cylinder (412), the 8th extension sleeve (413), the tenth stepper motor (414), the tenth stepper motor fixed plate (415), second gear (416), the 9th axis of rolling (417), it is equipped with groove in the 8th extension sleeve (413) upper surface, is equipped with the tenth stepper motor fixed plate (415) on its right side； The 8th described telescopic rod (411) lower end is slidably mounted in the groove of the 8th extension sleeve (413) upper surface, on it end face Equipped with groove；The 18th described hydraulic cylinder (412) cylinder base is fixedly mounted on the fixation on the left of the 8th extension sleeve (413) Plate it is upper, piston rod end is fixedly connected with the fixed plate on the 8th telescopic rod (411) left side；Tenth stepper motor (414) it is horizontally arranged, side is fixedly mounted on the upper surface of the tenth stepper motor fixed plate (415), motor shaft and the second tooth Wheel (416) is fixedly connected；9th axis of rolling (417) is rotatably installed on the inside of the 8th telescopic rod (411) upper surface groove In the circular hole in face；The 13rd steering engine fixed plate (410) is equipped with before the 8th telescopic rod (411)；13rd steering engine (409) it is horizontally arranged, side is fixedly mounted on the 13rd steering engine fixed plate (410) above, motor shaft and the 9th axis of rolling (417) it is fixedly connected；The 7th described extension sleeve (407) left end is fixedly mounted on the 9th axis of rolling (417), in its right end Face is equipped with groove；The 7th described telescopic rod (406) left end is slidably mounted on the groove of the 7th extension sleeve (407) right side It is interior；The 17th described hydraulic cylinder (408) cylinder base is fixedly mounted in the fixed plate before the 7th extension sleeve (407), Its piston rod end is fixedly connected with the fixed plate before the 7th telescopic rod (406)；The 12nd described steering engine (405) level is put It sets, bottom is fixedly mounted on the right side of the 7th telescopic rod (406), the fixed company in the left side of motor shaft and connecting plate (402) It connects；Described fork (401) front end is fixedly mounted on behind connecting plate (402)；Spoon (404) rear end is fixedly mounted Before connecting plate (402).
CN201810152869.6A 2018-02-20 2018-02-20 A kind of intelligence disabled person auxiliary wheelchair Active CN108186216B (en)

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CN109172171A (en) * 2018-10-08 2019-01-11 安徽机电职业技术学院 Rehabilitation Wheelchair for rehabilitation
CN109925133B (en) * 2019-04-08 2020-06-02 张红梅 Intelligent stair climbing, sitting and lying integrated wheelchair
CN113018013A (en) * 2021-03-11 2021-06-25 浙江海洋大学 Intelligent wheelchair with toilet function

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JP2010019708A (en) * 2008-07-11 2010-01-28 Hitachi Ltd On-board system
US20160370774A1 (en) * 2015-06-17 2016-12-22 Universite du Sud - Toulon - Var Universite du Sud - Toulon - Var Process for controlling a mobile device
CN205515250U (en) * 2016-01-14 2016-08-31 马忠超 Wheelchair controlling means based on brain wave combines head action
CN205992140U (en) * 2016-01-23 2017-03-01 鸿富锦精密工业(武汉)有限公司 The intelligent robot that EEG signals control
CN105739444A (en) * 2016-04-06 2016-07-06 济南大学 Manipulator multiparameter controlling brain-computer interface
CN206710887U (en) * 2016-11-29 2017-12-05 周文彬 A kind of idea dolly

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