CN202198769U - Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground - Google Patents
Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground Download PDFInfo
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- CN202198769U CN202198769U CN2011203044910U CN201120304491U CN202198769U CN 202198769 U CN202198769 U CN 202198769U CN 2011203044910 U CN2011203044910 U CN 2011203044910U CN 201120304491 U CN201120304491 U CN 201120304491U CN 202198769 U CN202198769 U CN 202198769U
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Abstract
The utility model relates to a self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground. The self-balancing electric wheel chair comprises a seat (1), a car body frame (2) and wheels (3), wherein the seat (1) is fixedly arranged on the car body frame (2); the self-balancing electric wheel chair is characterized in that two wheels (3) are adopted, the two wheels (3) are arranged at the two sides of the seat (1) in a bilateral symmetry manner, the car body frame (2) is provided with two servo motors (4), each servo motor (4) is connected with one wheel (3) in a transmission manner, at least three hydraulic arms (5) are uniformly arranged along circumferential direction of a wheel axle on the wheel axle outside or inside each wheel (3), each hydraulic arm (5) stretches out along radial direction of the wheel axle, the hydraulic arm (5) is provided with a driving cylinder (6), the driving cylinder (6) is connected with an oil pump by virtue of an oil pipe and a hydraulic solenoid valve, and the hydraulic solenoid valve and the oil pump are arranged on the car body frame (2). The self-balancing electric wheel chair provided by the utility model can travel on the flat ground and also can walk up and down the stairs with a simpler structure and low cost.
Description
Technical field
This utility model belongs to a kind of special vehicles, is the walking-replacing tool of a kind of dynamic driving of providing for the handicapped personage of lower limb, but is specially the self-balancing electric wheelchair that a kind of stair activity is walked pacifically.
Background technology
Wheelchair is the very important walking-replacing tool of individuals with disabilities, patient and old people of lower limb exercise inconvenience.Electric wheelchair of the prior art comprises seat, body framework and wheel, and wherein seat is fixed on the body framework, and wheel is two or four, is symmetrically arranged in the both sides of seat, and the power wheel on the body framework rotates, and makes wheel chair sport.When wheel was four, the occupant did not need the people and assists on the side promptly can keep the wheelchair balance; When wheel is two, need there be the people to assist the occupant on the side to keep the wheelchair balance.No matter wheel is two still wheelchairs of four, and stair activity is all very difficult.For making the wheelchair can stair activity, common wheel is become pocket-wheel or crawler wheels, but this kind wheelchair is not suitable for level walking, versatility is not strong; The complex structure of pocket-wheel or crawler wheels in addition, cost is very high.
Summary of the invention
But this utility model provides a kind of level walking self-balancing electric wheelchair of stair activity again that gets final product, and structure is comparatively simple, and cost is low.
For achieving the above object, the technical scheme that this utility model adopts is: but the self-balancing electric wheelchair that a kind of stair activity is walked pacifically, and said wheelchair comprises seat, body framework and wheel; Wherein seat is fixed on the body framework, and said wheel is two, and these two wheels are symmetrically arranged in the both sides of seat; Said body framework is provided with two servomotors; Each servomotor and a wheel are in transmission connection, and on the wheel shaft of each lateral wheel or inboard, along wheel shaft at least three hydraulic arms are set evenly circumferentially; Each hydraulic arm all extends radially out along wheel shaft; Hydraulic arm is provided with driving oil cylinder, and this driving oil cylinder is connected with oil pump with hydraulic buttery valve through oil pipe, and said hydraulic buttery valve and oil pump are installed on the body framework.
Related content in the technique scheme is explained as follows:
In the such scheme, the gauge tap of said oil pump and servomotor is located on the handrail of seat.
This utility model operation principle is: seat is provided with gravity sensor; On body framework, be provided with the detector that is used to survey wheelchair the place ahead and rear road conditions, be used to control electric-control system and the battery or the electromotor that is used to provide power supply of the oil pump of servomotor and hydraulic arm, servomotor, hydraulic arm, gravity sensor and detector are electrically connected with electric-control system.
When detector detects wheelchair the place ahead and is the level land; The electric control system controls hydraulic arm is retracted to its length less than radius of wheel, and the wheel rim of wheel lands, the rotation of electric control system controls driven by servomotor wheel; During turning; One of them power supply of two servomotors is cut off, and two wheels produce differential, realize the turning of wheelchair.During the straight line driving, two driven by servomotor two wheels rotate with speed.The occupant is sitting on the seat, and when rider's body was upright, gravity sensor detected the line center that the wheelchair center of gravity drops on left and right wheel and ground contact point, and wheelchair keeps balance motionless, and wheel is static, and this is the equipoise of wheelchair on the level land; When rider's body leans forward; Gravity sensor detects the reach of wheelchair center of gravity, and electric-control system is given servomotor according to the induced signal output control signal of gravity sensor, and the driven by servomotor wheel rotates forward; And the progressive strength size of size control wheel according to wheelchair angle of inclination and angular velocity; On the one hand balance people and the wheelchair moment of torsion of toppling over is forward kept the wheelchair balance, and generation lets the progressive acceleration of wheelchair on the one hand; When rider's body retreats; Gravity sensor moves after detecting the wheelchair center of gravity, and electric-control system is given servomotor according to the induced signal output control signal of gravity sensor, and the driven by servomotor wheel rotates backward; And the strength according to the size control wheel of wheelchair angle of inclination and angular velocity is retreated is big or small; The moment of torsion that one side balance people and wheelchair are toppled over is backward kept the wheelchair balance, produces the acceleration that lets wheelchair retreat, slow down or brake on the one hand; Be the occupant if the angle that changes own health forward or toward hypsokinesis, wheelchair will advance, retreat, slow down or brake according to the direction that tilts, and the wheelchair road speed is proportional with the degree of rider's body inclination, has realized that the man-machine interaction vicarious controls.
When detector detects wheelchair the place ahead and is stair; Information such as rank height, rank distance are passed to electric-control system, the electric control system controls oil pump drive hydraulic arm to wheel radially the outer direction extend out to hydraulic arm length greater than radius of wheel, and hydraulic arm length high and rank distance is in correct position with respect to the stair rank; The hydraulic arm outer end lands; The speed that the electric control system controls hydraulic arm alternately stretches out makes wheelchair climb to upper level or next stage step, realizes going upstairs or going downstairs.
For guaranteeing the comfortable of occupant, when going upstairs, people's face is back to direction of advance; When going downstairs, people's face can be kept upright occupant's the upper part of the body towards direction of advance always, is the equilibrium figure of wheelchair.Gravity sensor senses the speed of stretching out that control oil pump behind the whole position of centre of gravity of wheelchair and occupant drives hydraulic arm, makes wheelchair keep balance.
Because the technique scheme utilization, this utility model compared with prior art has advantage:
1, because this utility model hydraulic arm when level walking shrinks, and felly lands, and hydraulic arm stretches out and lands when upper and lower stair, makes wheelchair promptly be suitable for level walking, again can stair activity, so highly versatile.
2, because this utility model left and right wheels by different driven by servomotor, can reduce the radius of turn of wheelchair, make wheelchair can be in little spatial dimension flexible motion.
Description of drawings
Accompanying drawing 1 is the structural representation of this utility model embodiment;
User mode figure when accompanying drawing 2 is accompanying drawing 1 level land balance;
The accompanying drawing 3 user mode figure when advancing on accompanying drawing 1 level land;
The accompanying drawing 4 user mode figure when retreating on accompanying drawing 1 level land;
Accompanying drawing 5 is the user mode figure of accompanying drawing 1 when going upstairs.
In the above accompanying drawing: 1, seat; 2, body framework; 3, wheel; 4, servomotor; 5, hydraulic arm; 6, driving oil cylinder; 7, handrail; 8, gauge tap; 9, gravity sensor.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment this utility model is further described:
Embodiment: shown in accompanying drawing 1, but the self-balancing electric wheelchair that a kind of stair activity is walked pacifically, wheelchair comprises seat 1, body framework 2 and wheel 3; Wherein seat 1 is fixed on the body framework 2, and wheel 3 is two, and these two wheels 3 are symmetrically arranged in the both sides of seat 1; Body framework 2 is provided with two servomotors 4; Each servomotor 4 and a wheel 3 are in transmission connection, and on the wheel shaft in each wheel 3 outside, along wheel shaft three hydraulic arms 5 are set evenly circumferentially; Hydraulic arm 5 can be four, five or more a plurality of in other examples, and hydraulic arm 5 also can be arranged on the wheel shaft of wheel 3 inboards in addition.Each hydraulic arm 5 all extends radially out along wheel shaft, and hydraulic arm 5 is provided with driving oil cylinder 6, and this driving oil cylinder 6 is connected with oil pump with hydraulic buttery valve through oil pipe, and hydraulic buttery valve and oil pump are installed on the body framework 2.The gauge tap 8 of oil pump and servomotor 4 is located on the handrail 7 of seat 1.
When detector detected wheelchair the place ahead and is the level land, electric control system controls hydraulic arm 5 was retracted to its length less than radius of wheel 3, and the wheel rim of wheel 3 lands, 3 rotations of electric control system controls servomotor 4 drive wheels.In straight line when driving,, two servomotors 4 drive two wheels 3 and rotate with speed, and during turning, one of them power supply of two servomotors 4 is cut off, and two wheels 3 produce differentials, realize the turning of wheelchair.
Shown in accompanying drawing 2, the occupant is sitting on the seat 1, when rider's body is upright; The wheelchair center of gravity that detects gravity sensor 9 drops on the line center of left and right wheel 3 and ground contact point; Wheelchair keeps balance motionless, and wheel is static, and this is the equipoise of wheelchair on the level land.
Shown in accompanying drawing 3, when rider's body leaned forward, gravity sensor 9 detected the reach of wheelchair center of gravity; Electric-control system is given servomotor 4 according to the induced signal output control signal of gravity sensor 9; Servomotor 4 drive wheels 3 are rotated forward, and big or small according to the size control wheel 3 progressive strength of wheelchair angle of inclination and angular velocity, the moment of torsion that one side balance people and wheelchair are toppled over forward; Keep the wheelchair balance, produce on the one hand and let the progressive acceleration of wheelchair.
Said referring to accompanying drawing 4, when rider's body retreated, gravity sensor 9 moved after detecting the wheelchair center of gravity; Electric-control system is given servomotor 4 according to the induced signal output control signal of gravity sensor 9; Servomotor 4 drive wheels 3 rotate backward, and control the strength size that wheel 3 is retreated, the moment of torsion that one side balance people and wheelchair are toppled over backward according to the size of wheelchair angle of inclination and angular velocity; Keep the wheelchair balance, produce the acceleration that lets wheelchair retreat, slow down or brake on the one hand.
The occupant if the angle that changes own health forward or toward hypsokinesis, wheelchair will advance, retreat, slow down or brake according to the direction that tilts, and the wheelchair road speed is proportional with the degree of rider's body inclination, has realized that the man-machine interaction vicarious controls.
Shown in accompanying drawing 5, when detector detects wheelchair the place ahead and is stair, information such as rank height, rank distance are passed to electric-control system; The electric control system controls oil pump drive hydraulic arm 5 to wheel 3 radially the outer direction extend out to hydraulic arm 5 length greater than wheel 3 radiuses; And high and rank are apart from being in correct position with respect to the stair rank for hydraulic arm 5 length, and hydraulic arm 5 outer ends land, the speed that electric control system controls hydraulic arm 5 alternately stretches out; Make wheelchair climb to upper level or next stage step, realize going upstairs or going downstairs.
For guaranteeing the comfortable of occupant, when going upstairs, people's face is back to direction of advance; When going downstairs, people's face can be kept upright occupant's the upper part of the body towards direction of advance always, is the equilibrium figure of wheelchair.Gravity sensor 9 senses the speed of stretching out that control oil pump behind the whole position of centre of gravity of wheelchair and occupant drives hydraulic arm 5, makes wheelchair keep balance.
The foregoing description only is the technical conceive and the characteristics of explanation this utility model, and its purpose is to let the personage who is familiar with this technology can understand content of this utility model and enforcement according to this, can not limit the protection domain of this utility model with this.All equivalences of being done according to this utility model spirit change or modify, and all should be encompassed within the protection domain of this utility model.
Claims (2)
1. but self-balancing electric wheelchair that stair activity is walked pacifically; Said wheelchair comprises seat (1), body framework (2) and wheel (3); Wherein seat (1) is fixed on the body framework (2), it is characterized in that: said wheel (3) is two, and these two wheels (3) are symmetrically arranged in the both sides of seat (1); Said body framework (2) is provided with two servomotors (4); Each servomotor (4) is in transmission connection with a wheel (3), on the wheel shaft of each wheel (3) outside or inboard, along wheel shaft at least three hydraulic arms (5) is set evenly circumferentially; Each hydraulic arm (5) all extends radially out along wheel shaft; Hydraulic arm (5) is provided with driving oil cylinder (6), and this driving oil cylinder (6) is connected with oil pump with hydraulic buttery valve through oil pipe, and said hydraulic buttery valve and oil pump are installed on the body framework (2).
2. but the self-balancing electric wheelchair that stair activity according to claim 1 is walked pacifically is characterized in that: the gauge tap (8) of said oil pump and servomotor (4) is located on the handrail (7) of seat (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203044910U CN202198769U (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203044910U CN202198769U (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202198769U true CN202198769U (en) | 2012-04-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203044910U Expired - Lifetime CN202198769U (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202198769U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309381A (en) * | 2011-08-19 | 2012-01-11 | 钟群明 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
| CN102626359A (en) * | 2012-05-06 | 2012-08-08 | 施长智 | Self-help electrically-powered wheelchair capable of going up and down stairs |
| CN105539612A (en) * | 2016-01-19 | 2016-05-04 | 徐一凡 | Track wheel vehicle with driving seat capable of rotating along with stairs and road slopes |
| CN106859874A (en) * | 2017-02-07 | 2017-06-20 | 晋江万智进出口贸易有限公司 | A kind of intelligent wheel chair that can keep self-balancing |
-
2011
- 2011-08-19 CN CN2011203044910U patent/CN202198769U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309381A (en) * | 2011-08-19 | 2012-01-11 | 钟群明 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
| CN102626359A (en) * | 2012-05-06 | 2012-08-08 | 施长智 | Self-help electrically-powered wheelchair capable of going up and down stairs |
| CN102626359B (en) * | 2012-05-06 | 2014-10-08 | 华北水利水电大学 | Self-help electrically-powered wheelchair capable of going up and down stairs |
| CN105539612A (en) * | 2016-01-19 | 2016-05-04 | 徐一凡 | Track wheel vehicle with driving seat capable of rotating along with stairs and road slopes |
| CN106859874A (en) * | 2017-02-07 | 2017-06-20 | 晋江万智进出口贸易有限公司 | A kind of intelligent wheel chair that can keep self-balancing |
| CN106859874B (en) * | 2017-02-07 | 2018-07-06 | 晋江万智进出口贸易有限公司 | A kind of intelligent wheel chair that can keep self-balancing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Suzhou Zhonggu Mould Co., Ltd. Assignor: Zhong Qunming Contract record no.: 2012320010010 Denomination of utility model: Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground Granted publication date: 20120425 License type: Exclusive License Record date: 20120216 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120425 |