CN110215358A - A kind of electric wheelchair having self-determination climbing stairs function and its control method - Google Patents
A kind of electric wheelchair having self-determination climbing stairs function and its control method Download PDFInfo
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- CN110215358A CN110215358A CN201910617317.2A CN201910617317A CN110215358A CN 110215358 A CN110215358 A CN 110215358A CN 201910617317 A CN201910617317 A CN 201910617317A CN 110215358 A CN110215358 A CN 110215358A
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- 230000009194 climbing Effects 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000005611 electricity Effects 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 241000153246 Anteros Species 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004768 organ dysfunction Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
-
- 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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- 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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
- A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
-
- 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
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Handcart (AREA)
Abstract
The invention discloses a kind of electric wheelchairs for having self-determination climbing stairs function, comprising: wheelchair frame；Multiple driving motors are respectively symmetrically fixedly mounted on the two sides of wheelchair frame；Multiple drive shafts, one end are fixedly connected with the output shaft of driving motor respectively；Multiple walking mechanisms comprising: walking mechanism mounting rack is rotatably supported at the other end of drive shaft；Multiple travel wheels, travel wheel are rotatably mounted on walking mechanism mounting rack；Multiple first sprocket wheels, are rotatably mounted on walking mechanism mounting rack；Wherein, the central axis of the first sprocket wheel is fixedly connected with the center of travel wheel；Chain, around the outside that multiple first sprocket wheels are arranged in；Multiple second sprocket wheels are arranged on the outside of chain；Wherein, the first sprocket wheel and the second sprocket wheel are respectively at chain engaged transmission；Sun gear is fixedly mounted on the driving shaft；Multiple planetary gears, with sun gear engaged transmission；Wherein, the central axis of planetary gear is fixedly connected with the center of the second sprocket wheel.
Description
Technical field
The invention belongs to electric wheelchair technical field, in particular to a kind of electric wheelchair for having self-determination climbing stairs function and its
Control method.
Background technique
With the raising of living standards of the people and the aggravation of social senilization's phenomenon, and adding due to people's rhythm of life
Fastly, it helps the elderly, just old class product is increasingly becoming market favorite.But after nowadays many old men are getting in years, due to disease or body
Body organ dysfunction is degenerated, and causes trip inconvenient, and can not be gone on a journey and be may cause the mind & body state of old man and be further deteriorated.
This phenomenon is even more serious for the old man for living in walk-up building, and above downstairs process is absolutely for weak old man
Make the wide gap that they are isolated from the outside world.Even if someone assist old man on downstairs, whole process be also it is time-consuming and laborious, can not obtain
Preferable experience.
Currently there are more electric wheelchairs, are mainly that common wheelchair increases In-wheel-motor driving power, can
With meet user can Self-operating wheelchair moved on flat preferable road surface.But in face of complex environments such as stairway steps
When, such wheelchair is just helpless.In the market there is also the wheelchair that a kind of back has crawler type walking mechanism, this wheelchair can
To meet user in the function of stair environmental transit, but need by others to control operation, user itself can not be autonomous
Control operation, substantially still a kind of cargo transport is mechanical, and more demanding to the physical fitness of operator, labor intensity compared with
Greatly.
Summary of the invention
The present invention provides a kind of electric wheelchairs for having self-determination climbing stairs function, and the purpose is to pass through sprocket wheel and planetary gear train
Cooperation transmission, the automatically walk of wheelchair is realized in the case where assisting without other people and climbs the function in building.
The present invention provides a kind of control methods of electric wheelchair for having self-determination climbing stairs function, according to the inclination angle of wheelchair
Degree controls the output torque ratio of wheelchair front axle driving motor and rear axle driving motor, to guarantee that in planet carrier public affairs do not occur for wheelchair
Climb in the case where turning, can utmostly guarantee the comfort of wheelchair.
Technical solution provided by the invention are as follows:
A kind of electric wheelchair having self-determination climbing stairs function, comprising:
Wheelchair frame；
Multiple driving motors are respectively symmetrically fixedly mounted on the two sides of the wheelchair frame；
Multiple drive shafts, one end are fixedly connected with the output shaft of the driving motor respectively；
Multiple walking mechanisms are separately mounted to the other end of the drive shaft；
Power supply is fixedly mounted on the wheelchair frame, for powering for the driving motor；
Wherein, the walking mechanism includes:
Walking mechanism mounting rack is rotatably supported in the drive shaft；
Multiple travel wheels, the travel wheel is rotatably mounted on the walking mechanism mounting rack, and the traveling
Wheel is uniformly distributed around the drive shaft；
Multiple first sprocket wheels are rotatably mounted on the walking mechanism mounting rack；
Wherein, the central axis of first sprocket wheel is fixedly connected with the center of the travel wheel；
Chain, around the outside that the multiple first sprocket wheel is arranged in；
Multiple second sprocket wheels are arranged on the outside of the chain, and between two adjacent the first sprocket wheels；
Wherein, first sprocket wheel and second sprocket wheel are respectively at the chain engaged transmission；
Sun gear is fixedly mounted in the drive shaft；
Multiple planetary gears, with the sun gear engaged transmission；
Wherein, the central axis of the planetary gear is fixedly connected with the center of second sprocket wheel.
Preferably, it is fixedly connected with hollow shaft at the center of the walking mechanism mounting rack, the hollow shaft passes through axis
Bearing sleeve is located in the drive shaft.
Preferably, the electric wheelchair for having self-determination climbing stairs function further include: multiple fixed baffles are mounted on
On the wheelchair frame, it is fixedly installed with axle sleeve respectively on the fixed baffle；
Wherein, the fixed baffle is arranged in a one-to-one correspondence with the walking mechanism, and the hollow shaft matching is arranged described
In axle sleeve.
Preferably, reduction gearbox is integrated on the driving motor.
Preferably, the electric wheelchair for having self-determination climbing stairs function further include: drive motor controller, installation
On the wheelchair frame, for controlling the driving motor.
Preferably, the electric wheelchair for having self-determination climbing stairs function further include:
Handle is controlled, is mounted on the handrail of wheelchair, the control handle is controlled by circuit and the driving motor
Device connection；
Safety switch is mounted on the downside of the handrail, and is connect by circuit with the drive motor controller；And
Angular transducer is fixedly mounted on the wheelchair frame, and with the drive motor controller Electricity Federation.
Preferably, the walking mechanism is four；
Wherein, the two sides of the wheelchair frame are separately installed with two walking mechanisms；And it is located at the traveling of wheelchair frame two sides
Mechanism is symmetrically arranged.
A kind of control method for the electric wheelchair having self-determination climbing stairs function described has self-determination climbing stairs function for controlling
Can electric wheelchair, climbing when, control wheelchair front driving motor and wheelchair rear portion driving motor output torque it
Than are as follows:
Wherein,Height of center of mass for wheelchair tilt angle relative to horizontal direction, when H is horizontally arranged for wheelchair；L is
The distance between wheelchair front drive shafts and wheelchair rear drive shafts；When b is horizontally arranged for wheelchair mass center in the horizontal direction with
The distance between wheelchair rear drive shafts axis.
Preferably, when climbing building, the output for controlling the driving motor of wheelchair front and the driving motor at wheelchair rear portion is turned round
The ratio between square are as follows:
Wherein,
In formula,For the maximum value at the inclination angle relative to horizontal direction of wheelchair in the stipulated time,When to provide
The minimum value at interior wheelchair inclination angle relative to horizontal direction.
Preferably, when level land row is started to walk, the driving motor of the driving motor and wheelchair rear portion of control wheelchair front
The ratio between output torque are as follows:
Wherein, d is traveling wheel diameter, and L is the distance between wheelchair front drive shafts and wheelchair rear drive shafts；H is wheel
Height of center of mass when chair is horizontal positioned；rcFor the distance between the center of travel wheel and center of drive shaft, igFor sun gear and row
Transmission ratio between star-wheel；isFor the transmission ratio between the second sprocket wheel and the first sprocket wheel.
The beneficial effects of the present invention are:
(1) electric wheelchair provided by the invention for having self-determination climbing stairs function is passed by the cooperation of sprocket wheel and planetary gear train
It is dynamic, the automatically walk of wheelchair is realized in the case where assisting without other people and climbs the function in building.
(2) control method of the electric wheelchair provided by the invention for having self-determination climbing stairs function, according to the inclination angle of wheelchair
Degree controls the output torque ratio of wheelchair front axle driving motor and rear axle driving motor, to guarantee that in planet carrier public affairs do not occur for wheelchair
Climb in the case where turning, can utmostly guarantee the comfort of wheelchair.
(3) control method of the electric wheelchair provided by the invention for having self-determination climbing stairs function, when level land is started to walk, control
The output torque of wheelchair front axle driving motor and rear axle driving motor ratio, to guarantee that there is a situation where revolve in planet carrier for wheelchair
Under with peak acceleration start to walk advance, can make full use of Motor torque, promote the power performance of wheelchair.
Detailed description of the invention
Fig. 1 is the electric wheelchair general structure schematic diagram of the present invention for having self-determination climbing stairs function.
Fig. 2 is the schematic rear view of the electric wheelchair of the present invention for having self-determination climbing stairs function.
Fig. 3 is walking mechanism structural schematic diagram of the present invention.
Fig. 4 is chain wheel set of the present invention and travel wheel connection relationship diagram.
Fig. 5 is planetary gear train structural schematic diagram of the present invention.
Fig. 6 is traveling wheel axis detour star wheel series center steering radius schematic diagram when planet carrier of the present invention revolves.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figs. 1-2, the present invention provides a kind of electric wheelchair for having self-determination climbing stairs function, wheelchair is specifically included that
Frame 110, two handrails 120, cushion 130, four walking mechanisms 160 of drive shaft 150, four of driving motor 140, four and electricity
Source 170.
Two handrails 120 are symmetrically fixed at the left and right sides of wheelchair frame 110.Cushion 130 is fixedly mounted on wheelchair frame
110 tops, and be arranged between two handrails 120.
Four driving motors 140 are in the two sides for being symmetrically mounted on 110 lower part of wheelchair frame two-by-two, are integrated on driving motor 140
There is reduction gearbox, is exported through slow down laggard action edge of reduction gearbox.In the present embodiment, the front and rear of wheelchair frame 110 is solid respectively
Surely it is provided with motor mounting plate 111, motor mounting plate 111 is vertically arranged, and driving motor 140 is fixed by motor rack 141 respectively
It is mounted on motor mounting plate 111.Four drive shafts 150 are arranged in a one-to-one correspondence with driving motor 140；Wherein, drive shaft 150
One end be fixedly connected with the output shaft of driving motor 140, the other end is equipped with walking mechanism 160.Power supply 170 is fixedly mounted on
The front of wheelchair frame 110, for powering for four driving motors 140.
As shown in figure 3, walking mechanism 160 includes: walking mechanism mounting rack 161, multiple travel wheels 162,163 and of chain wheel set
Planetary gear train 164.
To be coupled walking mechanism, there are four fixed baffles 112, fixed baffle 112 to set vertically for setting on wheelchair frame 110
It sets between each drive shaft 150 and walking mechanism 160；Axle sleeve 113 is fixedly installed on each fixed baffle 112.
Hollow shaft is fixedly connected with inside (towards the side of wheelchair frame 110) center of walking mechanism mounting rack 161
161a, hollow shaft 161a matching are arranged in axle sleeve 113, and hollow shaft 161a can be freely rotated in axle sleeve 113.Meanwhile it is empty
Mandrel 161a is internally provided with bearing, and is set in drive shaft 150 by bearing matching, and drive shaft can be relatively hollow
Axis 161a is freely rotated.Multiple travel wheels 162 are rotatably mounted to the outside of walking mechanism mounting rack 161 (far from wheelchair frame
110 side), and multiple travel wheels 162 are uniformly distributed around the drive shaft 150.In the present embodiment, travel wheel 162
Quantity be 3.
As shown in figure 4, the inside (towards the side of wheelchair frame 110) of travel wheel 162, chain wheel set is arranged in chain wheel set 163
163 include multiple first sprocket wheel 163a, and the quantity of the first sprocket wheel 163a is identical as the quantity of travel wheel 162.First sprocket wheel 163a
It is rotatably mounted on walking mechanism mounting rack 161；And the center of the central axis of the first sprocket wheel 163a and travel wheel 162 is solid
Fixed connection, enables travel wheel 162 to rotate synchronously with the first sprocket wheel 163a.Chain 163b, around setting in multiple first chains
Take turns the outside of 163a；Multiple second sprocket wheel 163c are arranged in the outside of chain 163b, and are located at two adjacent the first sprocket wheels
The center position of chain 163b between 163a.The inside with chain 163b respectively first sprocket wheel 163a and the second sprocket wheel 163c
With outside engaged transmission.In the present embodiment, the quantity of the second sprocket wheel 163c is 3.
As shown in figure 5, the inside (towards the side of wheelchair frame 110) of chain wheel set 163, planet is arranged in planetary gear train 164
Train 164 includes sun gear 164a and multiple planetary gear 164b.Sun gear 164a is coaxially fixedly mounted in drive shaft 150；It is more
A planetary gear 164b be arranged around sun gear and with sun gear 164a engaged transmission；Wherein, the central axis of planetary gear 164b with
The center of second sprocket wheel 163c is fixedly connected, and the second sprocket wheel 163c and planetary gear 164b are rotated synchronously.
Power is transferred to the sun gear 164a in the planetary system of two sides by drive shaft 150 when walking mechanism works.Level land row
Into when, sun gear 164a imparts power to planetary gear 164b, and then drives the second sprocket wheel 163c rotation, thus drive chain
163b movement, chain 163b drive the first sprocket wheel 163a rotation；First sprocket wheel 163a rotation drives the rotation of travel wheel 162 to advance.
When climbing building or road gradient is larger, the travel wheel 162 positioned at 110 front of wheelchair frame leads to sprocket wheel by barrier locking
Group 163 and planetary gear train 164 middle planetary gear 164b can not rotation, planetary gear 164b and sun gear 164a be approximately rigidly connect
It connects, sun gear 164a will directly drive planetary gear train revolution, throwing over barrier.
In the present embodiment, power supply 170 uses lithium battery；And lithium battery employed in the present embodiment is conventional electricity
Pond is not described further herein.
In the present embodiment, the electric wheelchair for having self-determination climbing stairs function further includes hand push handle 180, hand-pushing handle
Hand 180 is fixedly connected on wheelchair frame 110.
In another embodiment, the electric wheelchair for having self-determination climbing stairs function further include: drive motor controller
(not shown), control handle 190, safety switch (not shown) and angular transducer (not shown).Driving
Electric machine controller is mounted on wheelchair frame 110, for controlling four driving motors 140；It can be realized by drive motor controller
The functions such as rotating forward, reversion, stalling, delay startup and the speed regulation of driving motor 140.Control handle 190, which is mounted on the right side of wheelchair, to be helped
On hand, and by circuit it is connect with the drive motor controller.The safety switch is mounted on the downside of the handrail, and is led to
Oversampling circuit is connect with the drive motor controller, and output signal when pressure is less than setting value above handrail enables driving motor
140 slowly stallings.The angular transducer is fixedly mounted on wheelchair frame 110, and with the drive motor controller Electricity Federation, use
In the tilt angle (tilt angle between wheelchair direction of travel and horizontal plane) of measurement wheelchair.The drive motor controller is same
When receive the signal from safety switch, operation handle 190 and angular transducer, control turning for four driving motors 140 respectively
The parameters such as speed steering, reach different driving intentions.Revolving speed by controlling driving motor can control the travel speed of wheelchair,
It can control wheelchair by driving motor rotational speed difference at left and right sides of control wheelchair to turn to.It is special by the power output for controlling wheelchair antero posterior axis
Property, wheelchair can be assisted preferably to work on acclive road surface.Drive motor controller also has soft start function, prevents
It is excessive in starting-up process motor torque.
The working principle of the electric wheelchair for having self-determination climbing stairs function are as follows: at work, power is by driving motor
140 output shaft is transferred in planetary gear train the sun gear 164a in planetary gear set through drive shaft 150, at this time planetary gear train
164 have planetary gear 164b rotation and planet carrier (being equivalent to travel wheel walking mechanism mounting rack 161) two freedom degrees of revolution, and
Planet carrier revolution torque is only dependent upon the output torque of driving motor 140.There are two types of working conditions for planetary gear train 164, respectively
Level land travel condition and climb building state.When level land is advanced, 140 output torque of driving motor is smaller, passes through wheelchair gravity itself
Planet carrier rotation (revolution) can be constrained, therefore only remaining planetary gear 164b rotation one degree of freedom.Planetary gear 164b rotation drives same
Second sprocket wheel 163c of axis connection, by chain 163b by power transmission the first sprocket wheel 163a, so that travel wheel 162 be driven to revolve
Turn, driving wheelchair is advanced.When climbing building or the larger gradient, when the travel wheel 162 when wheelchair front encounters barrier, travel wheel can not
Rotation causes planetary gear 164b can not rotation by chain 163b；Motor output torque increases, so that in planetary gear train 164
The revolution torque of planet carrier increases, and when the torque that revolves is greater than wheelchair self weight bring constraint, planet carrier starts to revolve, thus band
Dynamic travel wheel 164 revolves around 150 axis of drive shaft, crosses step, starts to climb building.
It is described for controlling the present invention also provides a kind of control method of electric wheelchair for having self-determination climbing stairs function
Have the electric wheelchair of self-determination climbing stairs function, in wheelchair climbing, according to the tilt angle of wheelchair, controls wheelchair front axle driving electricity
The output torque of machine and rear axle driving motor ratio, to guarantee that wheelchair is climbed in the case where planet carrier does not revolve, energy
Enough comforts for utmostly guaranteeing wheelchair.
When wheelchair drives at a constant speed on smooth-riding surface, planet carrier revolution torque is smaller can not to overcome wheelchair gravity to revolve,
Planetary gear rotation in planetary gear train, is rotated by chain-driving travel wheel, and driving wheelchair advances.At this point, the advance speed of wheelchair
Spend v are as follows:
Wherein, n is driving motor output shaft revolving speed；igFor Transmission Ratio of Planetary Gear Trains；isFor chain wheel set transmission ratio；D is to advance
Wheel diameter.
Since the trend that planet carrier generates revolution increases with traveling wheel drag (motor output torque) and increase.Planet carrier is public
The change of team causes wheelchair not stop to rise and fall, and influences usage experience.For the comfort level for improving wheelchair, wheelchair need to be controlled as far as possible and be advanced with level land
State (travel wheel autorotation) is climbed, until wheelchair tilt angle (being equivalent to inclination angle) is more than wheelchair with level land
The ruling grade angle that travel condition (travel wheel autorotation) can pass throughWhen, then it is switched to building state of climbing (planet carrier revolution
State).
On the slope, influence of the inclination angle to the road surface pressure at wheelchair antero posterior axis (drive shaft) are as follows:
Wherein,For the inclination angle of wheelchair in the horizontal direction, FAThe normal pressure of front axle is faced for ground；FBAfter being faced for ground
The normal pressure of axis；Height of center of mass when H is horizontally arranged for wheelchair；L is distance between axles before and after wheelchair；Mass center exists when b is horizontal positioned
The distance between with rear axle axis in horizontal direction；G is total force when wheelchair works.
It is collated to obtain:
Antero posterior axis planet carrier revolve before limiting condition when, between motor torque and the normal pressure of respective shaft
Relationship are as follows:
Wherein, MA1、MA2The respectively driving motor torque of front axle left and right sides；MB1、MB2The respectively driving of rear axle left and right sides
Motor torque；rcFor planet carrier revolution when traveling wheel axis detour star wheel series center steering radius, i.e., travel wheel central axis with
The distance between shaft center axis (as shown in Figure 6).
If it is known that the inclination angle of wheelchair in the horizontal directionSpindle motor before and after current angular can be calculated to be expert at carrier
Breakdown torque in the case of not revolving.
As driving force FtWith the sliding force on the road Yan PoWhen balance,Reach maximum value
It is collated to obtain:
To sum up, climb under operating condition in wheelchair, after sensor measurement wheelchair has greater obliquity, Collaborative Control antero posterior axis electricity
Machine makes the driving motor of wheelchair front axle and the ratio between the output torque of driving motor of wheelchair rear axle are as follows:
Motor torque can be made full use of, is no more than wheelchair in ground elevationWhen with level land travel condition traveling.
Stair climbing operating condition is similar with climbing operating condition control method, in stair climbing operating condition, to guarantee that planetary gear train is efficiently transported
Row, antero posterior axis planetary gear train do not interfere, and need the ratio between output torque of antero posterior axis driving motor s when to ladderfIt is controlled
System.sfValue should be identical with the calculation method of s under climbing operating condition, is ground in face of the ratio between antero posterior axis method phase pressure, it may be assumed that
Wherein,For the average value of the inclination maximum relative to horizontal direction and minimum angle-of-incidence of wheelchair in a period of time；I.e.
Wherein,For a period of time inner sensor record wheelchair inclination angle relative to horizontal direction maximum value,The minimum value at the wheelchair inclination angle relative to horizontal direction of a period of time inner sensor record.
The inclination angle of wheelchair in the horizontal direction when due to ladderIt fluctuates in real time with stair, therefore measure in real timeValue
It is not used to calculate, therefore takes the average value of wheelchair and the inclination angle in horizontal direction in a period of timeIt is calculated, obtains ladder
When antero posterior axis ditribution coefficiency sf, to control antero posterior axis driving motor.
In another embodiment, when level land is started to walk, the defeated of wheelchair front axle driving motor and rear axle driving motor is controlled
Torque ratio out can be sufficiently sharp to guarantee that wheelchair starts to walk to advance in the case where planet carrier does not revolve with peak acceleration
With Motor torque, the power performance of wheelchair is promoted.
It when inclination angle is 0, does not revolve to meet planet carrier, is only driven by travel wheel rotation, it is also desirable to limit driven
Dynamic motor output torque；For biggish acceleration can be reached, need to carry out reasonable distribution to antero posterior axis motor torque.
Normal pressure relationship when wheelchair is given it the gun forwards with acceleration a, between antero posterior axis and ground are as follows:
Wherein, m0Gross mass when working for wheelchair.
Relationship between acceleration a and the driving torque of driving motor are as follows:
Antero posterior axis planet carrier revolve before limiting condition when, between motor torque and the normal pressure of respective shaft
Relationship are as follows:
Collated bring into can obtain under critical condition:
To sum up, it starts to walk under operating condition in level land travel condition, Collaborative Control controls wheelchair front axle driving motor and rear axle driving
The output torque ratio of motor are as follows:
Motor torque can be made full use of, in the case where planet carrier injustice turns, meeting wheelchair can be with peak acceleration amax
Starting is advanced.Wherein, amaxAre as follows:
In addition, safe to guarantee to use, when downstairs, front axle motor driven, rear spindle motor is slightly braked, and is provided for wheelchair
The torque turned over turns down building before avoiding wheelchair.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of electric wheelchair for having self-determination climbing stairs function characterized by comprising
Wheelchair frame；
Multiple driving motors are respectively symmetrically fixedly mounted on the two sides of the wheelchair frame；
Multiple drive shafts, one end are fixedly connected with the output shaft of the driving motor respectively；
Multiple walking mechanisms are separately mounted to the other end of the drive shaft；
Power supply is fixedly mounted on the wheelchair frame, for powering for the driving motor；
Wherein, the walking mechanism includes:
Walking mechanism mounting rack is rotatably supported in the drive shaft；
Multiple travel wheels, the travel wheel is rotatably mounted on the walking mechanism mounting rack, and the travel wheel is enclosed
It is uniformly distributed around the drive shaft；
Multiple first sprocket wheels are rotatably mounted on the walking mechanism mounting rack；
Wherein, the central axis of first sprocket wheel is fixedly connected with the center of the travel wheel；
Chain, around the outside that the multiple first sprocket wheel is arranged in；
Multiple second sprocket wheels are arranged on the outside of the chain, and between two adjacent the first sprocket wheels；
Wherein, first sprocket wheel and second sprocket wheel are respectively at the chain engaged transmission；
Sun gear is fixedly mounted in the drive shaft；
Multiple planetary gears, with the sun gear engaged transmission；
Wherein, the central axis of the planetary gear is fixedly connected with the center of second sprocket wheel.
2. the electric wheelchair according to claim 1 for having self-determination climbing stairs function, which is characterized in that the walking mechanism peace
Hollow shaft is fixedly connected at the center shelved, the hollow shaft is set in the drive shaft by bearing.
3. the electric wheelchair according to claim 2 for having self-determination climbing stairs function, which is characterized in that further include: Duo Gegu
Determine baffle, be mounted on the wheelchair frame, is fixedly installed with axle sleeve respectively on the fixed baffle；
Wherein, the fixed baffle is arranged in a one-to-one correspondence with the walking mechanism, and the hollow shaft matching is arranged in the axle sleeve
In.
4. the electric wheelchair for having self-determination climbing stairs function according to claim 1 to 3, which is characterized in that described
Reduction gearbox is integrated on driving motor.
5. the electric wheelchair according to claim 4 for having self-determination climbing stairs function, which is characterized in that further include: driving electricity
Machine controller is mounted on the wheelchair frame, for controlling the driving motor.
6. the electric wheelchair according to claim 5 for having self-determination climbing stairs function, which is characterized in that further include:
Handle is controlled, is mounted on the handrail of wheelchair, the control handle is connected by circuit and the drive motor controller
It connects；
Safety switch is mounted on the downside of the handrail, and is connect by circuit with the drive motor controller；And
Angular transducer is fixedly mounted on the wheelchair frame, and with the drive motor controller Electricity Federation.
7. the electric wheelchair according to claim 6 for having self-determination climbing stairs function, which is characterized in that the walking mechanism is
Four；
Wherein, the two sides of the wheelchair frame are separately installed with two walking mechanisms；And it is located at the walking mechanism of wheelchair frame two sides
It is symmetrically arranged.
8. a kind of control method for the electric wheelchair for having self-determination climbing stairs function, has as claimed in claim 7 for controlling
The electric wheelchair of self-determination climbing stairs function, which is characterized in that in climbing, control driving motor and the wheelchair rear portion of wheelchair front
The ratio between output torque of driving motor are as follows:
Wherein,Height of center of mass for wheelchair tilt angle relative to horizontal direction, when H is horizontally arranged for wheelchair；L is wheelchair
The distance between front drive shafts and wheelchair rear drive shafts；When b is horizontally arranged for wheelchair mass center in the horizontal direction with wheelchair
The distance between rear drive shafts axis.
9. the control method of the electric wheelchair according to claim 8 for having self-determination climbing stairs function, which is characterized in that climbing
Lou Shi controls the driving motor of wheelchair front and the ratio between the output torque of driving motor at wheelchair rear portion are as follows:
Wherein,
In formula,For the maximum value at the inclination angle relative to horizontal direction of wheelchair in the stipulated time,For in the stipulated time
The minimum value at wheelchair inclination angle relative to horizontal direction.
10. the control method of the electric wheelchair according to claim 9 for having self-determination climbing stairs function, which is characterized in that
When level land row is started to walk, the driving motor of wheelchair front and the ratio between the output torque of driving motor at wheelchair rear portion are controlled are as follows:
Wherein, d is traveling wheel diameter, and L is the distance between wheelchair front drive shafts and wheelchair rear drive shafts；H is wheelchair water
Height of center of mass when placing flat；rcFor the distance between the center of travel wheel and center of drive shaft, igFor sun gear and planetary gear
Between transmission ratio；isFor the transmission ratio between the second sprocket wheel and the first sprocket wheel.
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| CN110606136A (en) * | 2019-10-22 | 2019-12-24 | 吉林大学 | Logistics robot with omnidirectional movement and obstacle crossing capability and control method thereof |
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| CN117838451A (en) * | 2024-03-07 | 2024-04-09 | 广东工业大学 | Disabled person goes up and down stairs auxiliary device |
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