CN1209737A - Motor-assisted wheel chair and driving mechanism therefor - Google Patents
Motor-assisted wheel chair and driving mechanism therefor Download PDFInfo
- Publication number
- CN1209737A CN1209737A CN97191847A CN97191847A CN1209737A CN 1209737 A CN1209737 A CN 1209737A CN 97191847 A CN97191847 A CN 97191847A CN 97191847 A CN97191847 A CN 97191847A CN 1209737 A CN1209737 A CN 1209737A
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- Prior art keywords
- motor
- wheel
- accumulator
- volts
- charge
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M13/00—Transmissions characterised by use of friction rollers engaging the periphery of the ground wheel
-
- 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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A motor-assisted wheel chair detects an input of man power and its motor (1) supplies auxiliary power in accordance with the input. The output of the motor (1) is controlled by switching a plurality of storage batteries in a driving circuit either to a series or a parallel. The output of the motor (1) is transmitted to wheels (5) through gears (7).
Description
Technical field
The present invention relates to a kind of charge and discharge device, in being equipped with the electricapparatus of accumulator, do not need so-called charger, and when discharge can and with extra powers such as solar energys, and can reduce the electromagnetic wave noise of generation when discharging.
The invention still further relates in the electric motor car that is equipped with accumulator wheel driving mechanism simple and don't that sound.
The invention still further relates to the utilization light-weight electric auxiliary wheel Wheel-chair of universal manual wheelchair mechanism of car the most.
Background technology
The motor machine that much is equipped with accumulator is arranged, for example, electric motor car, conveyance car, gamma camera, portable microcomputer.The most a kind of voltages (direct current) that adopt of its used accumulator.When to this charge in batteries, the modes of alternating voltage (power frequency supply) rectification being charged that adopt by so-called charger more.For the user, charger (power line, heaviness, because of maker different etc.) will be very numerous and diverse, price also can correspondingly improve.
In addition, when the power supply that uses variations in voltage such as solar energy, wind-force power supply during,, just have loss and become big shortcoming if the controller that need not be provided with separately converts the magnitude of voltage of change to constant magnitude of voltage to this single charge in batteries.
In addition, when variable electric power being offered motor etc., need provide pulse, because this pulse signal precipitous (sharply changing) exists the shortcoming that electromagnetic wave noise takes place by the control device that is provided with separately.
A kind of technical scheme of the present invention is a purpose to eliminate such shortcoming.
And as the driving method of electric motor car except the conventional method that drives the wheel center axle, drive near the method the wheel periphery in addition.
As everyone knows, the latter because at a high speed, low torque, with the former mutually specific energy accomplish the few drive motors (loss is few) of the number of gears.But the latter will apply several kilograms pressure to tire, so loss is bigger for roller tire on the drive wheels self fricton-tightly.Also have in the wheel periphery and concavo-convex gear is set and method of driving.Also can be driven even without very strong pressure this moment, but exist collision between the tooth of concavo-convex gear and concavo-convex driving rolls and produce the shortcoming of noise.
Second kind of technical scheme of the present invention is purpose to eliminate above-mentioned shortcoming.
The third technical scheme of the present invention is about electric wheel-chair vehicle (auxiliary type).
Sell in the market at present electric wheel-chair vehicle miscellaneous is arranged.Its great majority are to convert on hand the handle bar and the trend of steering wheel to the signal of telecommunication, and provide power supply by accumulator to motor.This electric motor car exists shortcomings such as Heavy Weight, the integrated deficiency of (control with) action.
The third technical scheme of the present invention is intended to and can overcomes above-mentioned shortcoming not changing on the such direction of manual electric wheel-chair vehicle.
Disclosure of an invention
First kind of technical scheme of the present invention has a plurality of accumulator, by the circuit that is combined by series connection and switch element in parallel, can directly each accumulator be charged by switch motion from change power supplys such as power frequency supply and sun-generated electric powers; And can directly produce various discharge waveforms by switch motion, the very little pulse of noise particularly can generate electromagnetic waves.
The invention of second kind of technical scheme is about the driving mechanism of wheel periphery, it proposes by resetting roller, driving side is produced with the concavo-convex gear that is driven side plurality of gaps, thereby can eliminate collision noise, and the mechanism that drives reliably.
The third technical scheme utilizes spring that the handrail of manual wheelchair is connected in wheel, and the reflection shape of spoke wheel shape is installed, and becomes possibility thereby make with the existing motor-assisted wheel Wheel-chair that does not have too big variation when manual.
The simple declaration of drawing
Fig. 1 represents the configuration example of charge and discharge device.Be formed in waveform and the charging moment, the charge volume of various accumulator and the pulsewidth modulation (PWM) of new mode of representing power frequency supply among Fig. 2, Fig. 3 and Fig. 4 respectively based on this.Fig. 5 represents the charging remaining quantity of two groups of chargers.Fig. 6 is the example of wheel driving mechanism, and its left figure is that motor is parallel to wheel, and right figure is the example of motor perpendicular to wheel.Fig. 7 is people's tension detection mechanism of motor-assisted wheel Wheel-chair.
Be the optimum state that carries out an invention
Fig. 1 represents that of the present invention is the formation of the charge and discharge device of example with 24 volts.
B1-B6 is accumulator (B1, B4 are 12 volts, and other are 6 volts), and SW1-SW25 is a switch element, and C is a microcomputer, S is solar panels or wind-driven generator, and I1-I3 is that amperometric, V1-V3 are voltage detector, and T is outside (charging vehicle etc.) terminal, M is a motor, and AC is the power frequency supply terminal, R
sBe current-limiting resistance.
Fig. 2 is the working waveform figure when utilizing the power frequency supply charging.
Fig. 3 is the working waveform figure in when discharge under the pulse width modulation mode.
According to these figure course of action is described.At first, when power frequency supply is in positive half cycle, connect the switch SW 3,8,11,16 of Fig. 1, when supply voltage surpasses 6V, begin accumulator B3, B6 charging (SW17 is in closed condition).If this charge volume reaches the setting that is provided with separately, connecting SW2,8,10,16 behind the present switch Close All.When surpassing 12V, supply voltage begins 3 and B5,6 chargings to accumulator B2.
After, similar to the above at 18 volts of connection SW1,7,9,15, connect SW1,8,9,16 at 24 volts.
Afterwards,, earlier SW18 is closed, connect SW17 then, two group storage batteries are connected in series at 24 volts to 48 volts.
Below connect SW3,16 at 30 volts, connect SW1,14 at 36 volts, at 42 volts connection SW1,15, at 48 volts of connection SW1,16.
The deviation of the charge volume of each accumulator is bigger in said process, closes SW17 so connect SW18 when power frequency supply is in negative half period, makes accumulator battery repeat aforesaid operations (it is more even that the charge volume of each accumulator just becomes) against continuing the back.
Fig. 3 represents the example of the charge volume under each voltage.
With Q1-Q6 among the figure is the accumulative charge volume of each accumulator B1-B6 (Fig. 1).Because Q3 and Q6 are less, can prolong the charging interval when this charges, also can charging separately in other cycles.
Set forth charging process below from solar panels.
S is solar panels among Fig. 1, V
sRepresent its voltage.
Work as V
sVoltage be connected with the high voltage accumulator when high, the same day the moon and voltage (for example: connection SW24) just is connected with the low-voltage accumulator when low.Can absorb solar energy (situation of wind-driven generator is also identical) expeditiously.
When being the mobile thing of electric automobile etc., can charge in batteries car temporary connection Herba Plantaginis, car is other or car after and obtain driving a vehicle energy and rechargeable energy.
The terminal T of Fig. 1 establishes for absorbing this energy.
For example, the 3KWh accumulator built-in when car body approaches 0, when the charging vehicle of 5KWh charges in the connection, utilizes remaining 2KWh to travel and arrives the next stop.Thereby can easily realize charging while driving a vehicle.
If Ib, Is, Im, Ij have when being respectively the electric current of accumulator, solar panels, motor, charging vehicle
Im=Ij-Ib+Is
Can by measure each constantly electric current and the charge volume of management of battery.
When charge in this driving limit, outside, the makeup energy though can pass through contact, noncontact guardrail or road surface, should obtain the agreement of relevant communal facility this moment.
The following describes discharge process.
By the getting type of Fig. 1 switch, can carry out various discharges.
For example, if only want to export 12 volts voltages,, be used in the portable electronic apparatus usually as long as alternately SW10,16 and SW9,14 is opened in the pass.
Except that direct current, can produce alternating voltage if the time carry out switch in the same manner with charging, can be used as not having the power failure device (but the quantity of accumulator is increased).
Here, about often be used in the modulation of motor-driven frequency modulation(PFM) and pulsewidth degree (PWM-certainly although it is so discharge also may-), a kind of PWM of new mode is proposed.
Fig. 5 shows its waveform.Waveform consistent (only the switch direction is contrary) under the switch motion in 6 volts to 24 volts output waveforms and when charging.
The time that different is till the next switch is certain and short.
With among the figure in the example of 5KHz (T is one-period=200 microsecond), carry out switch every 4 microseconds and then become 24 volts after 16 microseconds.
The command value of the great output of X representative output.This value is big more, keeps the time long more (maximum is about 200 microseconds) of 24 volts of voltages.Just little by little drop to 24,18,12,6,0 volts if X is little.Even (X=0, the pulse that also produces equivalent area.Make it then to adopt common PWM to produce if wish) into than this also little area.Claim that this is stepped PWM mode.
Because change in voltage adopts 4 ladders, can make high-frequency noise (electromagnetic wave noise) be reduced to 1/4, can avoid the misoperation and the inductive loss of other machines again.The method also is applicable to warbled occasion.
In addition, well-known NiCd accumulator etc. has memory effect.Set forth the method for avoiding it according to Fig. 4.
B7 is a left side (group) accumulator, and B8 is right (group) accumulator, and L represents 10% of charge level, and oblique line is represented to be recharged.
At first, left and right sides accumulator all is filled.
Before the L level, about commensurability discharge simultaneously.Arrive after the L point, only allow right battery discharging, begin the discharge (simultaneously to User Alarms, notice needs charge, and on storage inside sign=" right side ") of left accumulator then to empty.Be full of after the electricity, the discharge process before the L level is identical with preceding method again.After this, the accumulator (this time being a left side) that sign just will be set discharges into zero, and makes sign=" left side ".
So, memory effect can be eliminated, remaining charge volume can be do not wasted again and its utilization (in use next time) in case discharge just makes accumulator alternately use totally.
The occasion that only has an accumulator about this method is equally applicable to.The above information processing that discharges and recharges also can be carried out in the microcomputer C of Fig. 1.
Narrate the driving mechanism of electric vehicle below.
Fig. 6 represents two examples according to the wheel drive part of this programme.
One of driving method in the past is to enclose jog in the wheel periphery, and by the motor-driven method (with the left side among the figure) with concavo-convex roller, sounds when its shortcoming is rotation.This is because shake the head when the countermeasure as unsteadiness of wheels makes motor, and make its compressing wheel periphery and when driving, jog each other collides mutually and produces.
For eliminating this sound jog is done the curl profile of tooth, making it frequent contact also can (but price height).
In Fig. 6,, the linearity profile of tooth do not produce the scheme of noise even being described yet.
The 1st, be the motor of shaking the head in the center with fulcrum 2.The front end of motor 1 is oppressed the other side's wheel 5 with gear 3 and roller 4 tightly with spring 6.
The diameter of roller 4 is designed to be to make and keeps plurality of gaps between the gear.Even wheel 5 is through the timeliness variation and cause vibration, except the driving force action part, all keeping certain clearance (not producing collision sound between the tooth of gear) between the gear.
In Fig. 6, though roller 4 separate with gear 3, also can be integrated.
Among this figure, left side example is because motor 1 is installed to such an extent that be parallel to wheel 5, so be effective when hope makes horizontal wide the narrowing down of electric bicycle and folding electric chair.
The right example of Fig. 6 is easily if be applied to the device of amplitude broads such as electric bicycle, handbarrow, canoe.
Another advantage of Fig. 6 example is, because of the diameter of final gear is bigger, thereby do not need the gear of conversion torque, loses very little like this.
In addition, gear material (because of torque little) also can use the such lightweight material of resin.So full car body will lighten.
Fig. 7 is as a concrete example application, showed the example of the mechanism of the force transducer when popular manual pulley Wheel-chair carried out electronic auxiliaryization.
Make the handrail 7 usefulness springs that spoke wheel shape reflecting plate 8 is installed be attached to the wheel 5 that spoke wheel shape transmittance plate 9 is installed.
The light that is sent by luminous organ 10 passes through transmittance plate 9, through reflecting plate 8 reflections, is received by light-receiving device 11 again.
Force in handrail 7, then reflecting plate 8 and transmittance plate 9 will depart from and produce the poor of bright time and dark time.
Change above-mentioned difference into the signal of telecommunication, change into motor-driven power more pro rata, just can produce and apply the proportional auxiliary force of power.Just become so-called motor-assisted wheel Wheel-chair.
Utilize possibility on the industry
According to such scheme, owing to electric energy can simply and effectively be utilized, so can be used in The electric mechanism of general lift-launch battery.
Particularly owing to make the simple drive mechanism for wheel of light weight become possibility, thus realized light and Cheap electric motor car and conveyance car etc.
Claims
Modification according to the 19th of treaty
1. (after the revisal) a kind of charge and discharge device is characterized in that: in the accumulator motor machine, by a plurality of accumulator that are connected in series, be made up of switch element and blood processor that this each accumulator is parallel-connected on the common line; Directly charge by the AC voltage on this common line, or in the discharge of the enterprising horizontal pulse sequence of this common line (or step pulse sequence) voltage.
2. (after the revisal) a kind of wheel driver, in the accumulator electric motor car, by have with wheel cut abreast the jog that disappears wheel, be arranged at driven wheel on the motor shaft, the roller of configuration is constituted separately on this motor shaft.
3. (after the revisal) a kind of motor-assisted wheel Wheel-chair is characterized in that: respectively the central part of handrail wheel be provided with the spoke wheel shape reflecting plate, partly be provided with the transmittance plate of spoke wheel shape with the wheel center that this handrail wheel is connected with spring.
Claims (3)
1. charge and discharge device, by a plurality of accumulator, the switch element and the blood processor of connecting and being connected in parallel are formed.
2. motor has driven wheel and roller, and is driven by the motor of shaking the head.
3. motor-assisted wheel Wheel-chair is characterized in that: the driving force that is changed motor by the catoptrical light and shade time difference corresponding to the intensity of manpower.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP352125/96 | 1996-11-23 | ||
| JP35212596 | 1996-11-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1209737A true CN1209737A (en) | 1999-03-03 |
Family
ID=18421951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97191847A Pending CN1209737A (en) | 1996-11-23 | 1997-11-17 | Motor-assisted wheel chair and driving mechanism therefor |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN1209737A (en) |
| WO (1) | WO1998023239A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214181B (en) * | 2008-01-12 | 2010-06-16 | 郑凯宏 | Vehicle for disabled person and using method thereof |
| CN105997380A (en) * | 2016-06-27 | 2016-10-12 | 张七龙 | Crank type manual driving device for wheelchair |
| CN106038100A (en) * | 2016-06-27 | 2016-10-26 | 张七龙 | Manufacturing and use method of turbine type manual drive unit of wheelchair |
| CN106109117A (en) * | 2016-06-27 | 2016-11-16 | 张七龙 | The method of manufacture and use thereof of the crank type artificial actuating device of wheelchair |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019075081A1 (en) | 2017-10-12 | 2019-04-18 | The Center for Discovery, Inc. | Drive assembly for manually powered wheelchair and methods of using the same |
| JP2019172100A (en) * | 2018-03-28 | 2019-10-10 | 株式会社エクセディ | Mobile device |
| KR102209712B1 (en) * | 2019-04-12 | 2021-01-29 | 정필기 | Moving apparatus having multi-motor |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3100851A (en) * | 1959-11-03 | 1963-08-13 | Ling Temco Vought Inc | High power synthetic waveform generator |
| US3867643A (en) * | 1974-01-14 | 1975-02-18 | Massachusetts Inst Technology | Electric power converter |
| GB2043554B (en) * | 1979-02-02 | 1983-05-11 | Biddle Eng Co Ltd | Motorised wheelchairs |
| GB2134056A (en) * | 1982-12-31 | 1984-08-08 | Cecil James Watkins | Folding, motorized wheelchair |
| US4641847A (en) * | 1985-12-16 | 1987-02-10 | Busse Ronald E | Single lever control wheel chair |
| JPH0274491A (en) * | 1988-09-10 | 1990-03-14 | Matsushita Electric Works Ltd | Bicycle with motor |
| US5078227A (en) * | 1989-06-18 | 1992-01-07 | S. A. E. Akikim | Auxiliary drive for vehicles |
| FR2654927B1 (en) * | 1989-11-28 | 1994-02-11 | Pierre Jose Soto | REMOVABLE WHEELCHAIR. |
| JPH0743806U (en) * | 1992-03-27 | 1995-09-19 | 一路 藤岡 | Energy belt equipment |
| JPH0660203U (en) * | 1992-06-23 | 1994-08-19 | 一路 藤岡 | New transportation system |
| JP3025987B2 (en) * | 1994-02-03 | 2000-03-27 | 新家工業株式会社 | Wheel |
| TW467091U (en) * | 1994-03-29 | 2001-12-01 | Sanyo Electric Co | Electric bicycle |
| JPH07327323A (en) * | 1994-05-31 | 1995-12-12 | Nemitsuku Ramuda Kk | Battery system |
-
1997
- 1997-11-17 WO PCT/JP1997/004171 patent/WO1998023239A1/en active Application Filing
- 1997-11-17 CN CN97191847A patent/CN1209737A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214181B (en) * | 2008-01-12 | 2010-06-16 | 郑凯宏 | Vehicle for disabled person and using method thereof |
| CN105997380A (en) * | 2016-06-27 | 2016-10-12 | 张七龙 | Crank type manual driving device for wheelchair |
| CN106038100A (en) * | 2016-06-27 | 2016-10-26 | 张七龙 | Manufacturing and use method of turbine type manual drive unit of wheelchair |
| CN106109117A (en) * | 2016-06-27 | 2016-11-16 | 张七龙 | The method of manufacture and use thereof of the crank type artificial actuating device of wheelchair |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1998023239A1 (en) | 1998-06-04 |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |