CN108814824B - Wheel chair - Google Patents
Wheel chair Download PDFInfo
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- CN108814824B CN108814824B CN201810520583.9A CN201810520583A CN108814824B CN 108814824 B CN108814824 B CN 108814824B CN 201810520583 A CN201810520583 A CN 201810520583A CN 108814824 B CN108814824 B CN 108814824B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
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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
- A61G5/10—Parts, details or accessories
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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
- A61G5/1005—Wheelchairs having brakes
- A61G5/1013—Wheelchairs having brakes engaging the wheel
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Retarders (AREA)
- Motor Power Transmission Devices (AREA)
Abstract
The invention discloses a wheelchair, which comprises a wheel transmission device, a power driving device and an electric steering transmission device, wherein: the wheel transmission devices comprise two groups of wheels which are respectively used for driving the left side or the right side of the wheelchair, and each group of wheel transmission devices comprises a differential device shell, a power input flange, a wheel transmission device shell, an upper side planetary bevel gear, a lower side planetary bevel gear, a wheel driving shaft, a right side central bevel gear, a steering adjusting shaft, a left side central bevel gear, a driving bevel gear, an electromagnetic brake flange, a steering adjusting input shaft, a belt wheel, a reversing bevel gear, an electromagnetic brake yoke, an electromagnetic brake armature and an electromagnetic brake flange; the driving device is used for driving the wheel transmission device; the electric steering transmission is used for steering wheels.
Description
The application is a divisional application of an invention patent application with the application number of ' 201710324651.X ', the application date of ' 5 and 10 months in 2017 and the name of ' a wheelchair driving device '.
Technical Field
The invention belongs to a transmission mechanism applied to a wheelchair, and particularly relates to a wheel driving device of an electric wheelchair and the wheelchair.
Background
The wheelchair is widely used in daily life as a tool for assisting mobility handicapped. At present, wheelchairs mainly comprise a manual wheelchair and an electric wheelchair, the manual wheelchair is low in price but does not have a power driving device, and the wheelchairs need to be pushed by hand in the using process, so that labor is wasted. The electric wheelchair is superposed with a high-performance power driving device on the basis of a manual wheelchair, but basically adopts a mode that two motors directly drive wheels to provide power, the movement control of the wheelchair is relatively complex, so that the constant-speed rotation or accurate steering of the two wheels is difficult to realize, and the wheelchair walks an S-shaped curve in the straight-going process and has unstable turning radius in the turning process.
Aiming at the problems, the invention designs the wheelchair driving device, when the wheelchair moves straight, only one motor is needed to drive the left and right wheels, and the synchronism of the wheels at the two sides can be well ensured. When the automobile turns, the rotating speed of the wheels on one side is only required to be adjusted, so that the two wheels generate a rotating speed difference, and the accurate steering is realized. The wheelchair can be immediately stopped from traveling with the drive motor still running. The invention also designs an electric steering transmission device which can conveniently adjust the direction.
Disclosure of Invention
The invention aims to provide a wheelchair driving device which is simple to control, has good synchronism of wheels at two sides during straight running and can accurately control turning, and the wheelchair driving device comprises an electric adjusting steering mechanism so as to meet the requirements of users.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
a wheelchair drive comprising a wheel transmission, a power drive and an electric steering transmission, wherein:
the wheel transmission devices comprise two groups of wheels which are respectively used for driving the left side and the right side of the wheelchair, and each group of wheel transmission devices comprises a differential device shell, a power input belt wheel, a wheel transmission device shell, an upper side planetary bevel gear, a lower side planetary bevel gear, a wheel driving shaft, a right side central bevel gear, a steering adjusting shaft, a left side central bevel gear, a driving bevel gear, a steering adjusting input shaft, a belt wheel, a reversing bevel gear, an electromagnetic brake (comprising an electromagnetic brake yoke and an electromagnetic brake armature) and an electromagnetic brake flange;
the driving device is used for driving the wheel transmission device and comprises a power driving device shell, a belt wheel, a power input shaft, a gear ring shaft, a power input shaft electromagnetic brake, a power input shaft side flange, a gear ring, a planetary gear, a sun gear, a planet carrier, a power output shaft side flange, a power output shaft electromagnetic brake, a power output shaft and a power output flange;
the electric power steering transmission device is used for steering wheels, and comprises: an electric steering gear housing; the motor, the coupler, the driving gear, the left bevel gear, the left reversing bevel gear, the left clutch rotating disc assembly, the left armature, the left clutch magnetic yoke, the driven gear, the steering adjusting power shaft, the right clutch magnetic yoke, the right clutch rotating disc assembly, the right armature, the right reversing bevel gear and the right reversing bevel gear are arranged in the shell; a left belt wheel and a right belt wheel which are arranged outside the shell; and a left steering adjustment output shaft and a right steering adjustment output shaft which are partially arranged inside the electric steering transmission device shell and partially arranged outside the electric steering transmission device shell; wherein the left armature is connected with the left bevel gear into a whole, and the right armature is connected with the right bevel gear into a whole.
The wheelchair drive unit described above, wherein: most of the wheel driving shaft is arranged in the wheel transmission device shell, and one end of the wheel driving shaft is exposed out of the wheel transmission device shell and connected with the wheel on the left side for driving the wheel to rotate; the other end of the wheel drive shaft extends into the wheel transmission device shell, and the wheel drive shaft is supported through a first bearing and a second bearing, wherein the first bearing is arranged on the wheel transmission device shell, and the second bearing is arranged in the differential device shell.
The wheelchair drive unit described above, wherein: the steering adjusting shaft is a hollow shaft, is sleeved on the wheel driving shaft and is arranged in the shell of the wheel transmission device, and is supported by two bearings, wherein the third bearing is arranged on the first mounting boss, and the fourth bearing is arranged in the shell of the differential device; the steering adjusting shaft is provided with a driving bevel gear and an electromagnetic brake flange, and an armature of the electromagnetic brake is connected with the electromagnetic brake flange into a whole.
The wheelchair drive unit described above, wherein: the driving bevel gear is meshed with the reversing bevel gear; the steering adjustment input shaft is arranged perpendicular to the vehicle driving shaft and is supported by a fifth bearing arranged on the wheel transmission device shell, one end of the steering adjustment input shaft extends into the wheel transmission device shell, the other end of the steering adjustment input shaft is exposed out of the wheel transmission device shell, and a belt wheel is arranged at the exposed end of the steering adjustment input shaft; in the wheel transmission device shell, a reversing bevel gear is arranged on a steering adjustment input shaft; the electromagnetic brake yoke is mounted on the wheel transmission housing.
The wheelchair drive unit described above, wherein: the differential device shell is in a hollow cylinder shape and is arranged in the wheel transmission device shell through two bearings, wherein the sixth bearing is arranged on the wheel transmission device shell, and the seventh bearing is arranged in the wheel transmission device shell; the power input pulley is disposed at an end of the differential housing remote from the left hand wheel and outside of the wheel transmission housing.
The wheelchair drive unit described above, wherein: the upper side planetary bevel gear and the lower side planetary bevel gear are arranged in the differential device shell through mounting shafts which are respectively arranged on an eighth bearing and a ninth bearing which are arranged on the upper side and the lower side in the differential device shell; the wheel driving shaft is connected with the right central bevel gear and the wheels into a whole, and the steering adjusting shaft is connected with the left central bevel gear, the driving bevel gear and the electromagnetic brake into a whole through flanges; the upper side planetary bevel gear is respectively meshed with the left side central bevel gear and the right side central bevel gear, and the lower side planetary bevel gear is respectively meshed with the left side central bevel gear and the right side central bevel gear; the steering adjustment input shaft is connected with the belt wheel and the reversing bevel gear into a whole, and all shafts are supported through bearings.
The wheelchair drive unit described above, wherein: most of the power input shaft is installed in the power drive device shell, and one end of the power input shaft exposed outside the power drive device shell is provided with a belt wheel which is connected with the belt wheel on the output shaft of the drive motor through a belt for power input.
The wheelchair drive unit described above, wherein: the interior of the shell of the power driving device is divided into a first part and a second part, wherein the first part is a power input part, and the second part is a power output part; the power input shaft is supported by two bearings, wherein the 10 th bearing is arranged on the shell of the power driving device, and the 11 th bearing is arranged on the shell of the power driving device.
The wheelchair drive unit described above, wherein: the gear ring shaft is a hollow shaft and is sleeved on the power input shaft, and the gear ring shaft is supported by two bearings, wherein the 12 th bearing is arranged on the shell of the power driving device, and the 13 th bearing is arranged on the second mounting boss; a power input shaft side magnetic yoke, a power input shaft side armature and a power input shaft side flange are arranged in the first portion, wherein the power input shaft side magnetic yoke is mounted on a power driving device shell, and an electromagnetic brake flange is mounted on a gear ring shaft.
The wheelchair drive unit described above, wherein: the planetary gear, the sun gear, the planet carrier, the power output shaft side flange, the power output shaft side armature, the power output shaft side magnetic yoke and a part of the power output shaft are arranged in the power output part, the sun gear is positioned in the center of the gear ring, the planetary gear is positioned between the sun gear and the gear ring and is respectively meshed with the sun gear and the gear ring, and the planetary gear is arranged on the planet carrier.
The wheelchair drive unit described above, wherein: the power output shaft is supported through a 12 th bearing and a 13 th bearing which are arranged on a power driving device shell, a magnetic yoke on the side of the power output shaft is arranged on the power driving device shell, the planet carrier is arranged on the power output shaft, a power output flange is arranged on one end, exposed outside the power driving device shell, of the power output shaft, and the power output flange is connected with the power input flange through a connecting rod mechanism or a belt and used for providing power for the power input flange.
The wheelchair drive unit described above, wherein: the power input shaft is connected with the belt wheel and the sun wheel into a whole, the gear ring shaft is connected with the electromagnetic brake flange and the inner gear ring into a whole, and the power output shaft is connected with the planet carrier, the electromagnetic brake flange and the power output belt wheel into a whole; the armature of the electromagnetic brake is respectively connected with the flange of the electromagnetic brake into a whole, and the magnetic yoke of the electromagnetic brake is connected with the shell of the power driving device into a whole.
The wheelchair drive unit described above, wherein: the electric steering transmission device comprises an electric steering transmission device shell, a steering adjusting power shaft main body, a left mounting wall, a middle mounting wall, a right mounting wall, a left bearing and a right bearing, wherein the electric steering transmission device shell is internally provided with the two mounting walls with central holes at intervals, namely the left mounting wall and the right mounting wall, the left mounting wall and the right mounting wall divide the electric steering transmission device shell into a left part, a middle part and a right part; the driven gear is arranged on the body of the steering adjusting power shaft positioned at the middle part and is meshed with the driving gear; the mounting shaft of the driving gear is supported by a group of bearings arranged on the shell of the electric steering transmission device; the mounting shaft of the driving gear is connected with the output shaft of the motor fixed in the middle part through a coupling.
The wheelchair drive unit described above, wherein: the parts and the connection structure thereof arranged on the left side part and the right side part of the shell of the electric steering transmission device are completely the same: the left side clutch magnetic yoke is fixed on the left side mounting wall through a bolt, the left end of the steering adjustment power shaft penetrates through the left side clutch magnetic yoke, the left side electromagnetic clutch rotor assembly is connected with the steering adjustment power shaft into a whole, the left side bevel gear is installed on the steering adjustment power shaft through a central bearing and is connected with the left side electromagnetic clutch armature into a whole, the left side steering power adjustment output shaft is supported by a bearing arranged on the shell of the electric steering transmission device in the direction vertical to the steering adjustment power shaft, one end of the left side bevel gear extending into the shell of the electric steering transmission device is provided with a left side steering bevel gear, and the left side steering bevel gear is meshed with the left side bevel gear; the part of the left steering power adjusting output shaft exposed outside the shell of the electric steering transmission device is provided with a left belt wheel which is connected with a belt wheel of a wheel transmission device of a left wheel through a belt to provide power for the left belt wheel; the right side clutch magnetic yoke is fixed on the right side mounting wall through a bolt, the right end of the steering adjustment power shaft penetrates through the right side clutch magnetic yoke, the right side electromagnetic clutch rotor assembly is connected with the steering adjustment power shaft into a whole, the right side bevel gear is mounted on the steering adjustment power shaft through a central bearing and is connected with the armature of the right side electromagnetic clutch into a whole, the right side steering power adjustment output shaft is supported by a bearing arranged on the shell of the electric steering transmission device in the direction vertical to the steering adjustment power shaft, one end of the right side bevel gear extending into the shell of the electric steering transmission device is provided with a right side steering bevel gear, and the right side steering bevel gear is meshed with the right side bevel gear; the part of the right steering power adjusting output shaft exposed outside the shell of the electric steering transmission device is provided with a right belt wheel which is connected with the belt wheel of the wheel transmission device of the right wheel through a belt to provide power for the right wheel.
The wheelchair drive unit described above, wherein: the driving gear shaft assembly is connected with a motor through a coupler, bevel gears on the left side and the right side are installed on a steering adjusting power input shaft through bearings, and the steering adjusting power input shaft is connected with electromagnetic clutch rotor assemblies on the left side and the right side into a whole; the left and right steering adjusting output shafts are respectively connected with the reversing bevel gear and the left and right belt pulleys into a whole; each shaft is arranged on the shell of the electric steering transmission device through a bearing; the left electromagnetic clutch magnetic yoke and the right electromagnetic clutch magnetic yoke are connected with the shell of the electric steering transmission device into a whole; the left and right bevel gears are respectively meshed with the reversing bevel gears.
A wheelchair comprising a wheelchair drive arrangement as described above.
Drawings
FIG. 1 is a schematic view of a wheel transmission of the present invention;
FIG. 2 is a schematic view of the power drive of the present invention;
FIG. 3 is a schematic view of the electric power steering transmission of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings: as shown in fig. 1, the wheel gear of the left wheel includes a differential housing 111, a power input flange 116, a wheel gear housing 102, upper and lower side planetary bevel gears 113 and 117, a wheel driving shaft 115, a right center bevel gear 114, a steering adjustment shaft 110, a left center bevel gear 112, a drive bevel gear 103, an electromagnetic brake flange 107, a steering adjustment input shaft 105, a pulley 106, a reverse bevel gear 104, an electromagnetic brake yoke 109, an electromagnetic brake armature 108, and an electromagnetic brake flange 107. The structure of the wheel transmission device of the other side wheel is identical to the structure of the wheel transmission device of the one side wheel, and the structure is symmetrical, so that the following description about the structure of the wheel transmission device is also applicable to the wheel transmission device of the right side wheel.
The majority of the wheel drive shaft 115 is disposed within the wheel transmission housing 102, with one end of the wheel drive shaft 115 exposed outside of the wheel transmission housing 102 and connected to the left wheel for driving the wheel in rotation; a first mounting boss is arranged in the wheel transmission device shell 102, the first mounting boss is of a hollow boss structure, the other end of the wheel driving shaft 115 penetrates through the first mounting boss and then extends into the wheel transmission device shell 102, the driving shaft 115 is supported by a 1 st bearing and a 2 nd bearing, wherein the 1 st bearing is arranged on the wheel transmission device shell 102, and the second bearing is arranged in the differential device shell 111; the steering adjusting shaft 110 is a hollow shaft, is sleeved on the wheel driving shaft 115 and is arranged in the wheel transmission device shell 102, the first part of the steering adjusting shaft is arranged in the differential device shell 111, the second part, namely the middle part of the steering adjusting shaft passes through a first mounting boss, the steering adjusting shaft 110 is supported by two bearings, wherein the No. 3 bearing is arranged on the first mounting boss, and the No. 4 bearing is arranged in the differential device shell 111; the steering adjusting shaft 110 is provided with a driving bevel gear 103 and an electromagnetic brake flange 107 on a third portion thereof, and an electromagnetic brake armature 108 is integrally connected with the electromagnetic brake flange 107; the drive bevel gear 103 and the reverse bevel gear 104 are engaged with each other; the steering adjustment input shaft 105 is arranged perpendicularly to the vehicle drive shaft 115 and supported by a 5 th bearing provided on the wheel transmission housing 102, with one end thereof extending into the wheel transmission housing 102 and the other end thereof being exposed outside the wheel transmission housing 102, the exposed end being provided with a pulley 106; within the wheel transmission housing 102, a reversing bevel gear 104 is mounted on a steering adjustment input shaft 105; the electromagnetic brake yoke 109 is mounted on the first mounting boss.
The differential device shell 111 is hollow cylindrical and is arranged in the wheel transmission device shell 102 through two bearings, wherein the 6 th bearing is arranged on the first mounting boss, and the 7 th bearing is arranged in the wheel transmission device shell 102; a power input flange 116 is provided at the end of the differential housing 111 remote from the left hand wheel and outside the wheel transmission housing 102; the upper and lower side planetary bevel gears 113 and 117 are mounted in the differential case 111 by mounting shafts mounted on 8 th and 9 th bearings provided on upper and lower opposite sides in the differential case 111, respectively. The wheel driving shaft 115 is integrally connected to the right central bevel gear 114 and the wheel 101, and the steering adjustment shaft 110 is integrally connected to the left central bevel gear 112, the drive bevel gear 103 and the electromagnetic brake flange 107. The upper planetary bevel gear 112 is engaged with the left and right central bevel gears 112 and 114, respectively, and the lower planetary bevel gear 117 is engaged with the left and right central bevel gears 112 and 114, respectively. The steering input shaft 105 is integrally connected to a pulley 106 and a reversing bevel gear 104, and each shaft is supported by a bearing. The electromagnetic brake yoke 109 is integrally connected to the wheel transmission housing 102, and the electromagnetic brake armature 108 is integrally connected to the electromagnetic brake flange 107 by bolts. The differential housing 111, the steering adjustment shaft 110 and the wheel drive shaft 115 are concentric shafts with an inner layer, a middle layer and an outer layer.
As shown in fig. 2, the power drive device includes a power drive device case 201, a pulley 202, a power input shaft 203, a ring gear shaft 204, a power input shaft side yoke 205, a power input shaft side armature 206, a power input shaft side flange 207, a ring gear 208, a pinion gear 209, a sun gear 210, a carrier 211, a power output shaft side flange 212, a power output shaft side armature 213, a power output shaft side yoke 214, a power output shaft 215, and a power output flange 216.
Most of the power input shaft 203 is installed in the power drive device case 201, and one end of the power input shaft exposed outside the power drive device case 201 is provided with a pulley 202, and the pulley 202 is connected with an output shaft of a drive motor (not shown in the figure) through a belt or the like for power input; a hollow second mounting boss is arranged in the power driving device shell 201, and the second mounting boss divides the interior of the power driving device shell 201 into two parts, namely a first part and a second part; the power input shaft 203 is mostly located in the first portion, and the other end thereof extends into the second portion and is connected to the sun gear 110 located in the second portion, the power input shaft 203 being supported by a bearing, wherein the 10 th bearing is provided on the power drive device housing 201; the gear ring shaft 204 is a hollow shaft and is sleeved on the power input shaft 203, the gear ring shaft 204 is supported by two bearings, wherein the 11 th bearing is arranged on the power driving device shell 201, and the 12 th bearing is arranged on the second mounting boss; a power input shaft side yoke 205, a power input shaft side armature 206, and a power input shaft side flange 207 are provided in the first portion, wherein the power input shaft side yoke 205 is mounted on the power drive device case 201, and the electromagnetic brake flange 207 is mounted on the ring gear shaft 204.
Most of the pinion 209, the sun gear 210, the carrier 211, the power output shaft side flange 212, the power output shaft side armature 213, the power output shaft side yoke 214, and the power output shaft 215 are provided in the second portion, the sun gear 210 is located at the center of the ring gear 208, the pinion 209 is located between the sun gear 210 and the ring gear 208 and meshes with the sun gear 210 and the ring gear 208, respectively, and the pinion is mounted on the carrier 211; the power output shaft 215 is supported by a 13 th bearing and a 14 th bearing provided on the power drive device case 201, the power output shaft side yoke 214 is mounted on the power drive device case 201, the carrier 211 is mounted on the power output shaft 215, and a power output flange 216 is mounted on an end of the power output shaft 215 exposed to the power drive device case exterior 201, the power output flange 216 being connectable to the power input flange 116 through a transmission mechanism such as a link structure for supplying power to the power input flange 116. The same power take-off flange also powers the power take-off flange of the right wheel. The power output flange 216 and the power input flange 116 may also be replaced by belt wheels, and the power output belt wheel and the power input belt wheel may be connected through a belt to provide power for the power input belt wheel.
The power input shaft 203 is connected with the belt wheel 202 and the sun gear 210 into a whole, the gear ring shaft 204 is connected with the electromagnetic brake flange 207 and the inner gear ring 208 into a whole, the power output shaft 215 is connected with the planet carrier 211, the electromagnetic brake flange 212 and the power output flange 216 into a whole, and all the shafts are installed on the shell 201 through bearings. Electromagnetic brake armatures 206 and 213 are respectively connected with electromagnetic brake flanges 207 and 212 into a whole, and electromagnetic brake yokes 205 and 214 are connected with the power drive device shell 201 into a whole through bolts.
As shown in fig. 3, the electric power steering gear includes an electric power steering gear housing 304 and a motor 301, a coupling 302, a drive gear 303, a left bevel gear 305, a left reverse bevel gear 306, a left clutch dial assembly 309, a left clutch yoke 310, a driven gear 311, a steering adjustment power shaft 312, a right clutch yoke 313, a right clutch dial assembly 314, a right reverse bevel gear 317, a right bevel gear 318, a left armature 319, a right armature 320 disposed inside the housing; a left pulley 308 and a right pulley 315 provided outside the housing; and a left steering adjustment output shaft 307 and a right steering adjustment output shaft 316 disposed partially inside the electric power steering gear housing 304 and partially outside the electric power steering gear housing 304. The left armature 319 is integral with the left bevel gear 305 and the right armature 320 is integral with the right bevel gear 318.
Two mounting walls with central holes, namely a left mounting wall and a right mounting wall, are arranged in the electric steering transmission device shell 304 at intervals to divide the electric steering transmission device shell 304 into a left part, a middle part and a right part, a steering adjusting power shaft 312 is mainly arranged in the middle part, two ends of the steering adjusting power shaft pass through the left mounting wall and the right mounting wall to respectively enter the left part and the right part, and the steering adjusting power shaft 312 is supported by two bearings (a 15 th bearing and a 16 th bearing) arranged on the left mounting wall and the right mounting wall; a driven gear 311 is mounted on the body of the steering adjustment power shaft 312 at the middle portion, the driven gear 311 is engaged with the driving gear 303; the mounting shaft of the pinion gear 303 is supported by a set of bearings (preferably 2) mounted on the electric power steering gear housing 304; the mounting shaft of the pinion gear 303 is connected to the output shaft of the motor 301 fixed in the middle portion by a coupling.
The components and their connection structures provided on the left and right side portions of the electric power steering gear housing 304 are completely the same, and therefore the components in the left side portion are taken as an example for explanation: the left clutch magnetic yoke 310 is fixed on the left mounting wall through a bolt, the left end of the steering adjustment power shaft 312 penetrates through the left clutch magnetic yoke 310, the left electromagnetic clutch rotor assembly 309 is connected with the steering adjustment power shaft 312 into a whole, the left bevel gear 305 is mounted on the steering adjustment power shaft 312 through a central bearing, because inner and outer rings of the bearing are respectively mounted on different parts, the inner ring of the bearing can not drive the outer ring to rotate, the left steering power adjustment output shaft 307 is arranged in the direction vertical to the steering adjustment power shaft 312 and is supported by a 17 th bearing arranged on the electric steering transmission device shell 304, one end of the left bevel gear 306 extending into the electric steering transmission device shell 304 is mounted with the left steering bevel gear 306, and the left steering bevel gear 306 and the left bevel gear 305 are meshed with each other. The left steering power adjustment output shaft 307 is provided with a left pulley 308 at a portion exposed outside the electric power steering transmission housing 304, and is connected to the pulley 106 of the wheel transmission of the left wheel via a belt to supply power thereto.
The driving gear shaft assembly 303 is connected with a motor 301 through a shaft coupling 302, the bevel gears 305 and 318 at the left side and the right side are respectively installed on a steering adjustment power input shaft 312 through bearings, the steering adjustment power input shaft 312 is connected with electromagnetic clutch rotor assemblies 309 and 314 into a whole, when the armature is not attracted with the rotor, the inner ring of the bearing is driven to rotate when the steering adjustment power input shaft 312 rotates, the outer ring does not rotate, the bevel gears at the left side and the right side do not rotate, when the armature at one side is attracted with the rotor, the outer ring of the bearing supporting the bevel gears at one side rotates along with the rotor, and at the moment, the inner ring and the outer ring. Left and right steering adjustment output shafts 307 and 316 are integrally connected to reversing bevel gears 306 and 317 and left and right pulleys 308 and 315, respectively. Each shaft is mounted to the electric steering gear housing 304 by bearings. The left and right electromagnetic clutch yokes 310 and 313 are connected with the electric steering transmission device housing 304 as a whole through bolts; the left and right bevel gears 305 and 318 are engaged with the reverse bevel gears 306 and 317, respectively.
The working principle of the invention is as follows:
the rotation speed of the differential device shell 111 is n0, the rotation speed of the wheel driving shaft 115 is n1, and the rotation speed of the steering adjusting shaft 110 is n2, and the three relations are as follows: 2n0 ═ n2+ n 1; wherein, the rotating speed of each shaft can be positive or negative, and the positive and negative rotating speeds represent opposite rotating directions.
Firstly, a wheelchair is in straight motion:
the electromagnetic brake armature 206 is attracted with the magnetic yoke 205, the gear ring shaft 204 is in a locking state, the gear ring 208 is fixed with the shell 201 and cannot rotate, the electromagnetic brake armature 213 is separated from the magnetic yoke 214, and the power output shaft 215 is in a loosening state and can rotate relative to the shell 201. The electric steering transmission device has no power input. The driving power is input by the belt pulley 202, the sun gear 210 is driven to rotate by the power input shaft 203, the planet carrier 211 is driven to rotate, and then the power output flange 216 is driven to rotate by the power output shaft 215 (specifically, the driving force of the motor is input to the power drive shaft 203 through the belt pulley 202, the power input shaft 203 starts to rotate and drives the sun gear 210 to rotate, and then the planet gear 209 is driven to rotate, the planet carrier 211 is driven to rotate, and the power output shaft 215 rotates along with the rotation). The power take-off flange 216 may provide power to the power take-off flange 116 via a belt, linkage, or other transmission mechanism, and input power to the left and right wheel transmissions.
The electromagnetic brake armature 108 of the left and right wheel transmission devices is attracted with the magnetic yoke 109, and the steering adjusting shaft 110 is in a locked state and cannot rotate, namely n2 is 0. The power input flange 116 drives the differential housing 111 to rotate, and the bevel gear drives the wheel driving shaft 115 to rotate, wherein the rotating speed is recorded as 2n 0. The left and right wheels travel straight at 2n 0.
Secondly, steering of the wheelchair:
the wheelchair turning process is substantially the same as the state of each brake during the straight travel of the wheelchair by adjusting the turning speed of the turning adjustment shaft as n2, and one side will be described as an example.
The right transmission gear transmission mechanism of the wheelchair is symmetrical to that in figure 1 (not shown), and the right steering adjusting shaft is in a locking state, so that the rotating speed of the right wheel is 2n 0. The left electromagnetic brake armature 108 is released from the magnetic yoke 109, the steering adjusting shaft 110 is in a released state, the magnetic yoke 310 is electrified to attract the left armature 319, the left armature 319 is pressed to the left electromagnetic clutch rotor assembly 309 and rotates along with the rotor, the right electromagnetic clutch rotor assembly 314 is released from the magnetic yoke 313, so that the left belt pulley 308 rotates after being driven by the bevel gear, and the right belt pulley 315 is static, so that steering adjusting power is output to the belt pulley 106.
The pulley 106 rotates the steering adjustment shaft 110 through the rotation of the bevel gear, so that the rotation speed of the left wheel is greater than or less than 2n0, and the right wheel still keeps the rotation speed of 2n0, therefore, the left and right wheels generate a speed difference to steer.
Thirdly, the wheel of the wheelchair stops rotating
In the case of a driving power input, i.e., the power input shaft 203 continues to rotate, the wheelchair can still stop running. At the moment, the armature 206 of the electromagnetic brake is released from the magnetic yoke 205, the gear ring shaft 204 is in a released state, the gear ring 208 rotates relative to the shell 201, the armature 213 of the electromagnetic brake is attracted to the magnetic yoke 214, and the power output shaft 215 is in a locked state, so that the gear ring 208 rotates under the drive of the sun gear 210, the planet carrier 211 is fixed, the rotating speed of the power output shaft 215 is 0, the wheel transmission device does not have power input, and the wheel stops rotating at the moment. Of course, the present invention may also choose another way to brake by stopping the driving motor.
Claims (10)
1. A wheelchair comprises a wheelchair driving device, the wheelchair driving device comprises a wheel transmission device, a power driving device and an electric steering transmission device, and is characterized in that:
the wheel transmission devices comprise two groups of wheels which are respectively used for driving the left side and the right side of the wheelchair, and each group of wheel transmission devices comprises a differential device shell, a power input belt wheel, a wheel transmission device shell, an upper side planetary bevel gear, a lower side planetary bevel gear, a wheel driving shaft, a right side central bevel gear, a steering adjusting shaft, a left side central bevel gear, a driving bevel gear, a steering adjusting input shaft, a belt wheel, a reversing bevel gear, an electromagnetic brake and an electromagnetic brake flange;
the driving device is used for driving the wheel transmission device and comprises a power driving device shell, a belt wheel, a power input shaft, a gear ring shaft, a power input shaft electromagnetic brake, a power input shaft side flange, a gear ring, a planetary gear, a sun gear, a planet carrier, a power output shaft side flange, a power output shaft electromagnetic brake, a power output shaft and a power output flange;
the electric power steering transmission device is used for steering wheels, and comprises: an electric steering gear housing; the motor, the coupler, the driving gear, the left bevel gear, the left reversing bevel gear, the left clutch rotating disc assembly, the left armature, the left clutch magnetic yoke, the driven gear, the steering adjusting power shaft, the right clutch magnetic yoke, the right clutch rotating disc assembly, the right armature and the right reversing bevel gear are arranged in the shell; a left belt wheel and a right belt wheel which are arranged outside the shell; and a left steering adjustment output shaft and a right steering adjustment output shaft which are partially arranged inside the electric steering transmission device shell and partially arranged outside the electric steering transmission device shell; wherein the left armature is connected with the left bevel gear into a whole, and the right armature is connected with the right bevel gear into a whole.
2. The wheelchair of claim 1 wherein: most of the wheel driving shaft is arranged in the wheel transmission device shell, and one end of the wheel driving shaft is exposed out of the wheel transmission device shell and connected with the wheel on the left side for driving the wheel to rotate; the other end of the wheel drive shaft extends into the wheel transmission device shell, and the wheel drive shaft is supported through a first bearing and a second bearing, wherein the first bearing is arranged on the wheel transmission device shell, and the second bearing is arranged in the differential device shell.
3. The wheelchair of claim 2 wherein: the steering adjusting shaft is a hollow shaft, is sleeved on the wheel driving shaft and is arranged in the shell of the wheel transmission device, and is supported by two bearings, wherein the third bearing is arranged on the first mounting boss, and the fourth bearing is arranged in the shell of the differential device; the steering adjusting shaft is provided with a driving bevel gear and an electromagnetic brake flange, and an armature of the electromagnetic brake is connected with the electromagnetic brake flange into a whole.
4. The wheelchair of claim 1 wherein: the electric steering transmission device comprises an electric steering transmission device shell, a steering adjusting power shaft main body, a left mounting wall, a middle mounting wall, a right mounting wall, a left bearing and a right bearing, wherein the electric steering transmission device shell is internally provided with the two mounting walls with central holes at intervals, namely the left mounting wall and the right mounting wall, the left mounting wall and the right mounting wall divide the electric steering transmission device shell into a left part, a middle part and a right part; the driven gear is arranged on the body of the steering adjusting power shaft positioned at the middle part and is meshed with the driving gear; the mounting shaft of the driving gear is supported by a group of bearings arranged on the shell of the electric steering transmission device; the mounting shaft of the driving gear is connected with the output shaft of the motor fixed in the middle part through a coupling.
5. The wheelchair of claim 4 wherein: the parts and the connection structure thereof arranged on the left side part and the right side part of the shell of the electric steering transmission device are completely the same: the left side clutch magnetic yoke is fixed on the left side mounting wall through a bolt, the left end of the steering adjustment power shaft penetrates through the left side clutch magnetic yoke, the left side electromagnetic clutch rotor assembly is connected with the steering adjustment power shaft into a whole, the left side bevel gear is installed on the steering adjustment power shaft through a central bearing and is connected with the left side electromagnetic clutch armature into a whole, the left side steering power adjustment output shaft is supported by a bearing arranged on the shell of the electric steering transmission device in the direction vertical to the steering adjustment power shaft, one end of the left side bevel gear extending into the shell of the electric steering transmission device is provided with a left side steering bevel gear, and the left side steering bevel gear is meshed with the left side bevel gear; the part of the left steering power adjusting output shaft exposed outside the shell of the electric steering transmission device is provided with a left belt wheel which is connected with a belt wheel of a wheel transmission device of a left wheel through a belt to provide power for the left belt wheel; the right side clutch magnetic yoke is fixed on the right side mounting wall through a bolt, the right end of the steering adjustment power shaft penetrates through the right side clutch magnetic yoke, the right side electromagnetic clutch rotor assembly is connected with the steering adjustment power shaft into a whole, the right side bevel gear is mounted on the steering adjustment power shaft through a central bearing and is connected with the armature of the right side electromagnetic clutch into a whole, the right side steering power adjustment output shaft is supported by a bearing arranged on the shell of the electric steering transmission device in the direction vertical to the steering adjustment power shaft, one end of the right side bevel gear extending into the shell of the electric steering transmission device is provided with a right side steering bevel gear, and the right side steering bevel gear is meshed with the right side bevel gear; the part of the right steering power adjusting output shaft exposed outside the shell of the electric steering transmission device is provided with a right belt wheel which is connected with the belt wheel of the wheel transmission device of the right wheel through a belt to provide power for the right wheel.
6. The wheelchair of claim 5 wherein: the driving gear shaft assembly is connected with a motor through a coupler, bevel gears on the left side and the right side are installed on a steering adjusting power input shaft through bearings, and the steering adjusting power input shaft is connected with electromagnetic clutch rotor assemblies on the left side and the right side into a whole; the left and right steering adjusting output shafts are respectively connected with the reversing bevel gear and the left and right belt pulleys into a whole; each shaft is arranged on the shell of the electric steering transmission device through a bearing; the left electromagnetic clutch magnetic yoke and the right electromagnetic clutch magnetic yoke are connected with the shell of the electric steering transmission device into a whole; the left and right bevel gears are respectively meshed with the reversing bevel gears.
7. The wheelchair of claim 1 wherein: most of the power input shaft is installed in the power drive device shell, and one end of the power input shaft exposed outside the power drive device shell is provided with a belt wheel which is connected with the belt wheel on the output shaft of the drive motor through a belt for power input.
8. The wheelchair of claim 7 wherein: the interior of the shell of the power driving device is divided into a first part and a second part, wherein the first part is a power input part, and the second part is a power output part; the power input shaft is supported by two bearings, wherein the 10 th bearing is arranged on the shell of the power driving device, and the 11 th bearing is arranged on the shell of the power driving device.
9. The wheelchair of claim 8 wherein: the gear ring shaft is a hollow shaft and is sleeved on the power input shaft, and the gear ring shaft is supported by two bearings, wherein the 12 th bearing is arranged on the shell of the power driving device, and the 13 th bearing is arranged on the second mounting boss; a power input shaft side magnetic yoke, a power input shaft side armature and a power input shaft side flange are arranged in the first portion, wherein the power input shaft side magnetic yoke is mounted on a power driving device shell, and an electromagnetic brake flange is mounted on a gear ring shaft.
10. The wheelchair of claim 9 wherein: the planetary gear, the sun gear, the planet carrier, the power output shaft side flange, the power output shaft side armature, the power output shaft side magnetic yoke and a part of the power output shaft are arranged in the power output part, the sun gear is positioned in the center of the gear ring, the planetary gear is positioned between the sun gear and the gear ring and is respectively meshed with the sun gear and the gear ring, and the planetary gear is arranged on the planet carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810520583.9A CN108814824B (en) | 2017-05-10 | 2017-05-10 | Wheel chair |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810520583.9A CN108814824B (en) | 2017-05-10 | 2017-05-10 | Wheel chair |
| CN201710324651.XA CN107157669B (en) | 2017-05-10 | 2017-05-10 | A kind of wheelchair drive mechanism |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710324651.XA Division CN107157669B (en) | 2017-05-10 | 2017-05-10 | A kind of wheelchair drive mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108814824A CN108814824A (en) | 2018-11-16 |
| CN108814824B true CN108814824B (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710324651.XA Active CN107157669B (en) | 2017-05-10 | 2017-05-10 | A kind of wheelchair drive mechanism |
| CN201810520583.9A Active CN108814824B (en) | 2017-05-10 | 2017-05-10 | Wheel chair |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710324651.XA Active CN107157669B (en) | 2017-05-10 | 2017-05-10 | A kind of wheelchair drive mechanism |
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| CN (2) | CN107157669B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108619693B (en) * | 2017-11-29 | 2019-09-24 | 泉州台商投资区华林设计有限公司 | A kind of disabled person's curling auxiliary wheelchair |
| CN108670603B (en) * | 2018-05-29 | 2023-10-20 | 西安星球通智能装备技术有限公司 | Transmission device and electric wheelchair |
| CN109674622B (en) * | 2019-02-16 | 2022-01-11 | 国家康复辅具研究中心 | Wheelchair type lower limb rehabilitation training equipment and training method thereof |
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| CN87101597A (en) * | 1987-02-26 | 1988-10-19 | 赵兴龙 | The two-freedom gear inertia step-less moment variator that the freewheel rotating speed is frequently determined by output shaft |
| CN1145469C (en) * | 1995-02-03 | 2004-04-14 | 德卡产品有限公司 | Transportation vehicles and methods |
| KR100210937B1 (en) * | 1996-08-30 | 1999-07-15 | 정몽규 | Automatic transmission for a vehicle |
| CN2622482Y (en) * | 2003-04-29 | 2004-06-30 | 阎国俊 | Planetary gear speed reducer for sampling device |
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- 2017-05-10 CN CN201710324651.XA patent/CN107157669B/en active Active
- 2017-05-10 CN CN201810520583.9A patent/CN108814824B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107157669B (en) | 2018-07-03 |
| CN108814824A (en) | 2018-11-16 |
| CN107157669A (en) | 2017-09-15 |
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