CN111513942A - Active safety device of intelligent wheelchair - Google Patents

Active safety device of intelligent wheelchair Download PDF

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Publication number
CN111513942A
CN111513942A CN202010257697.6A CN202010257697A CN111513942A CN 111513942 A CN111513942 A CN 111513942A CN 202010257697 A CN202010257697 A CN 202010257697A CN 111513942 A CN111513942 A CN 111513942A
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CN
China
Prior art keywords
chassis
moving part
longitudinal moving
controller
seat
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Pending
Application number
CN202010257697.6A
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Chinese (zh)
Inventor
朱荣明
胡博
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Xi'an Xing Qiu Tong Equipment Technology Co ltd
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Xi'an Xing Qiu Tong Equipment Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Xi'an Xing Qiu Tong Equipment Technology Co ltd filed Critical Xi'an Xing Qiu Tong Equipment Technology Co ltd
Priority to CN202010257697.6A priority Critical patent/CN111513942A/en
Publication of CN111513942A publication Critical patent/CN111513942A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1051Arrangements for steering
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1078Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128Rests specially adapted therefor, e.g. for the head or the feet for feet
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • A61G2203/34General characteristics of devices characterised by sensor means for pressure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/723Impact absorbing means, e.g. bumpers or airbags

Abstract

The invention discloses an active safety device of an intelligent wheelchair, which comprises a chassis part, a longitudinal moving part, a transverse moving part and a controller, wherein the chassis part is arranged on the chassis part; the chassis component comprises a chassis and damping mechanisms respectively arranged at four corner ends of the chassis, the damping mechanisms are used for being connected with a motor shaft of a driving wheel, and each damping mechanism comprises four pressure sensors which are respectively positioned at the four corner ends of the chassis and used for collecting pressure data in four directions; the controller is electrically connected with the driving motors of the transverse moving component and the longitudinal moving component and the four pressure sensors respectively, and the controller is used for controlling the action process of the transverse moving component and the action process of the longitudinal moving component. The invention can actively protect to a certain extent and avoid risks before the occurrence of the risks; the method has the advantages that the method makes a judgment before the potential dumping danger occurs to a user, and adjusts the state of the user in time, so that the safety of the user is improved; the risk of the user toppling is reduced.

Description

Active safety device of intelligent wheelchair
Technical Field
The invention relates to the technical field of wheelchairs, in particular to an active safety device of an intelligent wheelchair.
Background
The aging trend of the population in China is aggravated, various types of problems appear after the skills of lower limbs of many old people are degraded, wherein the difficulty in traveling is the most common and basic problem, most of the old people cannot walk at a long distance due to the degradation of physical functions, auxiliary tools are needed, and more people select electric wheelchair vehicles or intelligent wheelchair vehicles. However, in the traveling process of the electric wheelchair, the problem that a user is accidentally injured by falling is occasionally caused. In particular to the problems of forward toppling, backward toppling and side turning when climbing up and down slopes, which causes secondary damage to the body of a user.
The technical characteristics of the existing product are as follows:
1. the utility model provides a common electronic wheelchair car of collapsible type, can solve the problem of riding instead of walk that some inconvenient long distance removed crowd, the rear wheel is the drive wheel, and the inboard design of drive wheel has backward to prevent empting the wheel. The structure is relatively simple, the whole weight is light, the gravity center position is relatively more backward when a user uses the device, and the device is easy to topple to the rear side when climbing a slope. This electronic wheelchair car has the risk of falling backward. And if the left side and the right side of the electric wheelchair turn over, the measures are avoided randomly, so that potential safety hazards exist.
2. The electric wheelchair produced by Shanghai Wei group electromechanical products Limited company can solve the problem of walking instead of walking for some people who are inconvenient to move for a long distance, and the rear wheels are driving wheels, and backward anti-toppling wheels are designed for preventing toppling on the inner sides of the driving wheels in consideration of the short axle center distance between the front wheels and the rear wheels. The structure is relatively thick and heavy, and the gravity center position is close to the middle of the two driving wheels when the user uses the device. But still tends to topple backward when climbing a slope. And if the left side and the right side of the electric wheelchair turn over, the measures are avoided randomly, so that potential safety hazards exist.
3. Compared with the common electric wheelchair, the wheelchair has the advantages that the seat of the wheelchair is relatively close to the front, when a user uses the wheelchair, the center of gravity of the wheelchair can be located at the middle position of the front wheel and the rear wheel, the rear wheel is a driving wheel, and a rear-side anti-toppling mechanism is not designed. When climbing, the wheelchair can be adjusted in a self-adaptive manner according to the climbing angle. So as to ensure that the body of the user is always in a posture vertical to the ground when the user goes up and down a slope. However, the center of gravity is largely changed when ascending, and the center of gravity moves to a large extent to the rear side, thereby causing a risk of falling backward. And if the left side and the right side of the electric wheelchair turn over, the measures are avoided randomly, so that potential safety hazards exist.
The electric wheelchair of the above 1 has a simple structure, relatively more centers are inclined backwards during use, the overall mass is smaller, and although the rear side is designed with the anti-toppling wheels, the risk of toppling over after the design is avoided. And has no protective measures or remedial measures for the rollover of the left side and the right side.
The electric wheelchair 2 has a thick structure, but the distance between the front and rear wheels is too small. The rear side is designed with anti-tipping wheels, but there is still a risk of tipping over at the rear. And has no protective measures or remedial measures for the rollover of the left side and the right side.
The electric wheelchair of the above 3 is designed with a leveling function of the seat when going up and down a slope, but when going up a slope, the center of gravity thereof is relatively changed greatly, and moves more to the rear side, and the rear side is not designed with anti-toppling wheels, so that the risk of toppling at the rear exists. In addition, the electric wheelchair has no protective measures or remedial measures for the side turning of the left side and the right side.
Disclosure of Invention
In order to solve the above-mentioned problems, an object of the present invention is to provide an active safety device for an intelligent wheelchair, which can be generally regarded as an outdoor intelligent wheelchair for use as a transportation tool, and which can be adjusted according to a detected gravity center shift when the intelligent wheelchair passes through a slope, so as to ensure that the adjusted gravity center is located at a safe and stable position of the entire wheelchair.
In order to solve the technical problems, the invention adopts the following technical scheme:
an active safety device of an intelligent wheelchair comprises a chassis component, a longitudinal moving component, a transverse moving component and a controller;
the chassis component comprises a chassis and damping mechanisms respectively arranged at four corner ends of the chassis, the damping mechanisms are used for being connected with a motor shaft of a driving wheel, the damping mechanisms comprise four pressure sensors, and the four pressure sensors are respectively positioned at the four corner ends of the chassis and are used for acquiring pressure data of four directions;
the front ends and the rear ends of the two longitudinal moving parts are respectively fixed on the chassis;
the two transverse moving components are respectively connected and fixed with the sliding blocks of the two longitudinal moving components through connecting profiles;
the sliding block of the transverse moving part is used for connecting a connecting piece of the seat frame;
the transverse moving part is used for driving the seat part to reciprocate transversely through the seat frame connecting part; the longitudinal moving part is used for driving the seat part to reciprocate along the transverse direction through the transverse moving part;
the controller is electrically connected with the driving motors of the transverse moving component and the longitudinal moving component and the four pressure sensors respectively, and the controller is used for controlling the action process of the transverse moving component and the action process of the longitudinal moving component.
Furthermore, the shock absorber comprises a shock absorption connecting sheet, the pressure sensor is arranged on the lower end face of the shock absorption connecting sheet, the lower end of the shock absorption connecting sheet is further connected with a damping pressure spring, the other end of the damping pressure spring is connected with a motor shaft mounting seat, a corresponding position is reserved between the pressure sensor and the motor shaft mounting seat before the shock absorption mechanism is not mounted on a motor shaft of the driving wheel, after the shock absorption mechanism is mounted on the motor shaft, the shock absorption mechanism acts when the driving wheel is in contact with the ground, and a contact of the pressure sensor is in contact with the motor shaft mounting seat. The corresponding force value is fed back through the output signal of the pressure sensor, and the controller compares the data of the four pressure sensors and analyzes the driving state of the four pressure sensors. Such as: when the force values of the four pressure sensors are close, it is determined that the center of gravity thereof needs to be adjusted temporarily. When the difference value of the force values of the four pressure sensors is changed greatly, the position of the gravity center of the four pressure sensors is adjusted according to an output signal given by the controller.
Furthermore, the longitudinal moving part comprises a driving motor, a flexible coupling, sliders, screw nuts, slide rails, a moving part base, a screw and an end face fixing seat, wherein the screw is sleeved with two groups of sliders and screw nuts, the distance between the sliders and the screw nuts is fixed, the sliders and the screw nuts are in the same direction, and when the driving motor rotates, the two sliders move towards the same direction.
Furthermore, the transverse moving part and the longitudinal moving part have the same structure and the same structure, the installation modes of the driving motors of the transverse moving part and the longitudinal moving part are different, and a driving motor shaft of the transverse moving part is vertical to the axis of the lead screw.
Furthermore, the chassis component comprises the driving wheel, a battery and the controller, the driving wheel, the battery and the controller are used as a base of the whole intelligent wheelchair and provide power for the intelligent wheelchair to ride instead of walk and adjust the posture, the chassis of the chassis component comprises side beams, a chassis connecting plate and a chassis cross beam, and circuit boards of the battery and the controller are sequentially arranged in the middle of the chassis connecting plate respectively.
Further, the controller includes control circuit board and manipulator, it has singlechip and voltage acquisition circuit to establish the welding on the controller circuit board, the manipulator includes display screen, switch button, rocking handle, manipulator shell, manipulator connecting piece, the display screen can show the motion user state under relevant data and the battery power how much, the power supply of the whole intelligent wheelchair of switch button control, the rocking handle is used for manual control the lateral shifting part with the action process of longitudinal movement part.
Further, the controller further comprises a gravity center adjusting button, and the gravity center adjusting button is used for automatically controlling the longitudinal moving part and the longitudinal moving part to adjust the seat to be located at the safe gravity center position after calculating the safe gravity center position according to pressure values fed back by the four pressure sensors. The center of gravity adjustment button may be selectively actuated by a user, preferably in a state where the center of gravity may shift, and may not be actuated when driving on a relatively flat road surface.
Furthermore, the foot support component comprises a foot support connecting pipe, a leg guard plate, a pedal plate, a supporting wheel and a foot support cross beam, the foot support component is arranged at the front end of the seat component frame in a hinged connection mode, the supporting wheel is usually contacted with the ground, so that a user can stably get on or off the vehicle, and the foot support component can be lifted to a corresponding height when the user needs to walk, so that the user is ensured not to be blocked by an obstacle.
The lifting upright columns are respectively distributed at two ends of the chassis connecting plate and are positioned below the longitudinal moving part, and the seat part is driven to lift by driving the longitudinal moving part to lift; meanwhile, the manipulator also comprises a lifting button for controlling the lifting action of the lifting upright post;
after the gravity center adjusting button calculates the safe gravity center position according to the pressure values fed back by the four pressure sensors, the actions of the longitudinal moving component, the longitudinal moving component and the lifting upright post are automatically controlled so as to adjust the position of the seat at the safe gravity center position.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention can realize active protection and avoid the risk before the occurrence of the risk; the method has the advantages that the method makes a judgment before the potential dumping danger occurs to a user, and adjusts the state of the user in time, so that the safety of the user is improved; the risk of the user toppling is reduced.
The wheelchair provided by the invention can be regarded as an outdoor intelligent wheelchair vehicle to be used as a walking tool under the normal condition, and when the wheelchair passes through a slope road surface, the active safety device of the intelligent wheelchair vehicle can adjust the center of gravity according to the detected condition of the center of gravity deviation, so that the adjusted center of gravity is ensured to be positioned at the safe and stable position of the whole vehicle.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic front view of an active safety device of a smart wheelchair according to the present invention;
FIG. 2 is a schematic bottom view of the structure of FIG. 1;
FIG. 3 is a schematic structural view of a chassis component;
FIG. 4 is a schematic view of a shock absorbing mechanism;
FIG. 5 is a schematic view of a longitudinally moving part;
FIG. 6 is a schematic view of a structure of a lateral shifting unit;
FIG. 7 is a schematic view of a foot rest assembly;
FIG. 8 is a schematic view of the manipulator structure;
FIG. 9 is a model diagram of barycentric plane coordinates.
Description of reference numerals: 1-chassis component, 11-driving wheel, 12-battery, 13-controller, 14-side edge beam, 15-chassis connecting plate, 16-chassis beam, 17-damping mechanism, 171-damping connecting sheet, 172-damping pressure spring, 173-pressure sensor, 174-motor shaft mounting seat; 2-a foot rest component, 21-a foot rest connecting pipe, 22-a leg guard plate, 23-a pedal, 24-a supporting wheel and 25-a foot rest beam; 3-seat part, 4-manipulator, 41-display screen, 42-power switch button, 43-gravity center adjusting button, 44-rocking handle, 45-manipulator shell and 46-manipulator connecting piece; 5-a longitudinal moving part, 51-a front-back adjusting lead screw driving motor, 52-a flexible coupling, 53-a lead screw sliding block, 54-a lead screw nut, 55-a sliding rail, 56-a moving part base, 57-a lead screw and 58-an end face fixing seat; 6-a transverse moving component, 61-a left-right adjusting screw motor; 7-lifting upright posts and 8-seat frame connecting pieces.
Detailed Description
As shown in fig. 1 and 2, the front and rear wheels of the intelligent wheelchair are both driving wheels 11, and the output shafts of the driving wheels directly penetrate through the side beams of the chassis part 1 and are fixed on the motor shaft mounting seats 174, and the motor shafts of the driving wheels 11 are respectively and fixedly connected with the corresponding motor shaft mounting seats 174. The battery 12 and the controller 13 are fixed to the chassis at intermediate positions by screws, respectively. The foot rest part 2 is fixedly connected to a hinge hole at the front end of the seat part 3. The front and rear ends of the two longitudinal moving members 5 are fixed to the floor beams, respectively. The two transverse moving components 6 are respectively connected and fixed with the two longitudinal moving components 5 through connecting profiles. The four sliding blocks of the two transverse moving components 6 are respectively fixed on a seat frame connecting part 8 and then are fixed with the seat component 3 through a seat component connecting plate. The manipulator 4 is fixed on the armrest of the seat component 3 through a connecting rod, the output end of the manipulator 4 is connected with the input end of the controller 13 through a lead, and the motion of the whole intelligent wheelchair is controlled through a driving rocker.
As shown in fig. 2 to 3, the chassis component 1 includes a driving wheel 11, a battery 12 and a controller 13 as a base of the whole intelligent wheelchair to provide power for the intelligent wheelchair to ride instead of walk and adjust the posture. The main frame of the chassis component 1 is mainly composed of side beams 14, a chassis connecting plate 15 and a chassis cross beam 16. The circuit boards of the battery 12 and the controller 13 are arranged in sequence at the middle of the chassis connection plate 15, respectively.
As shown in fig. 4, the damper mechanism 17 includes a damper connecting piece 171, a damper compression spring 172, a pressure sensor 173, and a motor shaft mount 174. Before the damper mechanism 17 is not mounted on the motor shaft of the drive wheel 11, the pressure sensor 173 is reserved with a corresponding position to the motor shaft mount 174. After being mounted on the motor shaft, the driving wheel 11 acts on the ground contact damper mechanism 17, and the contact of the pressure sensor 173 is in contact with the motor shaft mounting seat 174.
As shown in fig. 5, the longitudinal moving member 5 includes a front-back adjusting lead screw driving motor 51, a flexible coupling 52, a lead screw slider 53, a lead screw nut 54, a slide rail 55, a moving member base 56, a lead screw 57, and an end surface fixing base 58. Wherein, the lead screw 57 is sleeved with two groups of lead screw sliding blocks 53 and lead screw nuts 54, the distance between the two groups of lead screw sliding blocks is fixed, and the directions are the same. When the driving motor 51 rotates, the two lead screw blocks 53 move in the same direction.
As shown in fig. 6, the transverse moving member 6 has the same structure as the longitudinal moving member 5, and a left-right adjusting screw driving motor shaft 61 of the transverse moving member 6 is perpendicular to the axis of the screw 57 except for the mounting manner of the driving motor.
As shown in fig. 7, the foot rest member 2 includes a foot rest connecting tube 21, a leg guard 22, a foot board 23, a supporting wheel 24, and a foot rest cross member 25. The foot rest member 2 is mounted to the front end of the frame of the seat member 3 by means of a hinge connection. The support wheels 24 are typically in contact with the ground so that a user can get on and off the vehicle smoothly. When walking is required, the footrest part 2 is lifted to a corresponding height to ensure that it is not blocked by obstacles.
As shown in fig. 8, the manipulator 4 includes a display screen 41, a power switch button 42, a crank 44, a manipulator housing 45, and a manipulator link 46. The display screen 41 can display the relevant data in the sports use state, and the amount of charge of the battery 12. The power switch button 42 controls the power supply of the entire intelligent wheelchair.
As required, as shown in fig. 3, the chassis assembly 1 further includes lifting uprights 7, the lifting uprights 7 are respectively disposed at two ends of the chassis connecting plate 15, and are located below the longitudinal moving part 5, and the seat part 3 is driven to lift by driving the longitudinal moving part 5 to lift; meanwhile, the manipulator 4 also comprises a lifting button for controlling the lifting action of the lifting upright post 7; after the center of gravity adjusting button 43 calculates the safe center of gravity position according to the pressure values fed back by the four pressure sensors, the actions of the longitudinal moving member 5, the longitudinal moving member 6 and the lifting column 7 are automatically controlled, so as to adjust the seat to be located at the safe center of gravity position.
The lifting column 7 is mainly used for lowering the height of the gravity center, and when the gravity center is deviated, the height of the gravity center from the ground is firstly lowered, and then the safety is ensured by adjusting the gravity center through the actions of the transverse moving component 6 and the longitudinal moving component 5, which is equivalent to the priority feedback of a protective measure. The bottom of the lifting upright post 7 is fixedly connected with a chassis connecting plate (one at each of the front end and the rear end), and the top is fixedly connected with the bases of the longitudinal moving parts at the left side and the right side respectively.
Establish on the circuit board of controller 13 and weld and have singlechip and voltage acquisition circuit, the singlechip of controller gathers four pressure sensor 173's numerical value respectively and then calculates the comparison, and then adjusts longitudinal movement part 5, lateral shifting part 6 and lift stand 7, accomplishes and adjusts the seat focus position to ensure that the focus of intelligent wheelchair is in safety range.
The main operation modes of the center of gravity adjustment button 43 are:
firstly, when the intelligent wheelchair needs to climb or descend the slope before driving to the slope, the gravity center adjusting button 43 on the manipulator 4 is pressed. At this time, the controller 13 compares and analyzes data of the 4 pressure sensors 173 attached to the damper mechanism 17 inside the drive wheel 11 of the chassis member 1. The height of the seat part 3 and the front, back, left and right position states are adjusted in real time (through the lifting upright 7, the longitudinal moving part 5 and the transverse moving part 6) so as to ensure that the gravity center of the whole vehicle is in a relatively safe state on a slope.
Secondly, when the intelligent wheelchair runs to the rough road, the center of gravity adjusting button 43 on the manipulator 4 can be pressed down first. The controller 13 compares and analyzes data of 4 pressure sensors 173 mounted on the damper mechanism 17 inside the drive wheel 11 of the chassis member 1. The height of the seat component 3 and the front, back, left and right position states are adjusted in real time to ensure that the gravity center of the whole vehicle is in a relatively safe state on the road surface.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (9)

1. The utility model provides an initiative safety device of intelligence wheelchair which characterized in that: comprises a chassis part, a longitudinal moving part, a transverse moving part and a controller;
the chassis component comprises a chassis and damping mechanisms respectively arranged at four corner ends of the chassis, the damping mechanisms are used for being connected with a motor shaft of a driving wheel, the damping mechanisms comprise four pressure sensors, and the four pressure sensors are respectively positioned at the four corner ends of the chassis and are used for acquiring pressure data of four directions;
the front ends and the rear ends of the two longitudinal moving parts are respectively fixed on the chassis;
the two transverse moving components are respectively connected and fixed with the sliding blocks of the two longitudinal moving components through connecting profiles;
the sliding block of the transverse moving part is used for connecting a connecting piece of the seat frame;
the transverse moving part is used for driving the seat part to reciprocate transversely through the seat frame connecting part; the longitudinal moving part is used for driving the seat part to reciprocate along the transverse direction through the transverse moving part;
the controller is electrically connected with the driving motors of the transverse moving component and the longitudinal moving component and the four pressure sensors respectively, and the controller is used for controlling the action process of the transverse moving component and the action process of the longitudinal moving component.
2. The active safety device of a smart wheelchair of claim 1, wherein: the shock absorber comprises a shock absorption connecting sheet, wherein the pressure sensor is arranged on the lower end face of the shock absorption connecting sheet, the lower end of the shock absorption connecting sheet is further connected with a damping pressure spring, the other end of the damping pressure spring is connected with a motor shaft mounting seat, before the shock absorption mechanism is not mounted on a motor shaft of a driving wheel, the pressure sensor and the motor shaft mounting seat are reserved with corresponding positions, after the shock absorption mechanism is mounted on the motor shaft, the shock absorption mechanism acts when the driving wheel is in contact with the ground, and a contact of the pressure sensor is in contact with the motor shaft mounting seat.
3. The active safety device of a smart wheelchair of claim 1, wherein: the longitudinal moving part comprises a driving motor, a flexible coupler, sliding blocks, a screw nut, a sliding rail, a moving part base, a screw and an end face fixing seat, wherein the screw-57 is sleeved with two groups of the sliding blocks and the screw nut, the spacing between the two groups of the sliding blocks and the screw nut is fixed, the two groups of the sliding blocks and the screw nut are in the same direction, and when the driving motor rotates, the two sliding blocks move towards the same direction.
4. The active safety device of a smart wheelchair of claim 3, wherein: the transverse moving part and the longitudinal moving part are identical in structure and composition, the mounting modes of driving motors of the transverse moving part and the longitudinal moving part are different, and a driving motor shaft of the transverse moving part is perpendicular to the axis of the lead screw.
5. The active safety device of a smart wheelchair of claim 1, wherein: the chassis component comprises the driving wheel, a battery and the controller, the driving wheel, the battery and the controller are used as a base of the whole intelligent wheelchair and provide power for the intelligent wheelchair to ride instead of walk and adjust the posture, the chassis of the chassis component-1 comprises side edge beams, a chassis connecting plate and a chassis cross beam, and circuit boards of the battery and the controller are sequentially arranged in the middle of the chassis connecting plate respectively.
6. The active safety device of a smart wheelchair of claim 1, wherein: the controller includes control circuit board and manipulator, it has singlechip and voltage acquisition circuit to establish the welding on the controller circuit board, the manipulator includes display screen, switch button, rocking handle, manipulator shell, manipulator connecting piece, the display screen can show the relevant data and the battery-12 electric quantity under the motion user state what, the power supply of whole intelligent wheelchair car of switch button control, the rocking handle is used for the motion state of the whole car of manual control.
7. The active safety device of a smart wheelchair of claim 1 or 6, wherein: the controller further comprises a gravity center adjusting button, and the gravity center adjusting button is used for automatically controlling the longitudinal moving part and the longitudinal moving part to adjust the seat to be located at the safe gravity center position after the safe gravity center position is calculated according to pressure values fed back by the four pressure sensors.
8. The active safety device of a smart wheelchair of claim 1, wherein: the foot support component comprises a foot support connecting pipe, a leg guard plate, a pedal plate, a supporting wheel and a foot support cross beam, the foot support component is arranged at the front end of a seat component frame in a hinged connection mode, the supporting wheel is usually contacted with the ground, so that a user can stably get on or off the vehicle, and the foot support component can be lifted to a corresponding height when the user needs to walk, so that the user is ensured not to be blocked by a barrier.
9. The active safety device of a smart wheelchair of claim 7, wherein: the lifting upright columns are respectively distributed at two ends of the chassis connecting plate and are positioned below the longitudinal moving part, and the seat part is driven to lift by driving the longitudinal moving part to lift; after the gravity center adjusting button calculates the safe gravity center position according to the pressure values fed back by the four pressure sensors, the actions of the longitudinal moving component, the longitudinal moving component and the lifting upright post are automatically controlled so as to adjust the position of the seat at the safe gravity center position.
CN202010257697.6A 2020-04-03 2020-04-03 Active safety device of intelligent wheelchair Pending CN111513942A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113885537A (en) * 2021-12-07 2022-01-04 江苏邦邦智能科技有限公司 Control method, device, equipment and medium for intelligent mobile equipment
CN116327500A (en) * 2023-05-25 2023-06-27 中国医学科学院阜外医院 Nursing chair with adjustable postoperative rehabilitation nursing is used

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