CN202437494U - Six-wheeled self-adaption balance electric wheelchair - Google Patents
Six-wheeled self-adaption balance electric wheelchair Download PDFInfo
- Publication number
- CN202437494U CN202437494U CN 201220073697 CN201220073697U CN202437494U CN 202437494 U CN202437494 U CN 202437494U CN 201220073697 CN201220073697 CN 201220073697 CN 201220073697 U CN201220073697 U CN 201220073697U CN 202437494 U CN202437494 U CN 202437494U
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- wheelchair
- adaptive equalization
- electric wheelchair
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- wheel
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Abstract
The utility model relates to a six-wheeled self-adaption balance electric wheelchair which is provided with a wheelchair chassis, as well as a seat, a driving device and a control device arranged on the wheelchair chassis, and a self-adaption balance adjusting device. The self-adaption balance adjusting device is arranged between the wheelchair chassis and the seat and is provided with a left and a right adjusting worm rod retarding mechanism, an upper and a lower adjusting worm rod retarding mechanism,, a balance plate and a bracket; the left and right adjusting worm rod retarding mechanism and the upper and lower adjusting worm rod retarding mechanism are arranged in the balance plate and are in transmission connection with a servo motor; and the two ends of the bracket are respectively connected with the seat and the self-adaption balancing adjusting device. According to the six-wheeled self-adaption balance electric wheelchair, the self-adaption balance adjusting device is additionally arranged, a PLC (Programmable Logical Controller) is used for judging whether the six-wheeled self-adaption balance electric wheelchair is balanced or not after the conversion according to the body rotation information detected by a two-axis gyroscope sensor, the electric wheelchair motor is driven to control worm rods to realize balance movement due to the processing of the PLC, so that a wheel rider can be kept balanced.
Description
Technical field
This utility model relates to the electric bicycle technical field, and particularly a kind of six take turns the adaptive equalization electric wheelchair.
Background technology
The wheelchair product that can see on the China market at present mainly is divided into manually and electronic two big types; Wherein manual wheelchair is cheap because of it; Obtain the market favor, but owing to the manual wheelchair use mainly concentrates in the sound between twenty and fifty scope of upper limb, thereby limited old people and a part of people with disability's use; Under the situation that economic condition allows, electric wheelchair becomes their inevitable choice.Electric wheelchair generally is divided into three kinds on indoor type, outdoor version and road type, on China market, can both see.But China's electric wheelchair generally just increases power source and control unit on the manual wheelchair basis, function singleness, from safety, reliability and functional on all can not fully satisfy old people, people with disability's actual demand.Concrete some problems that exist of electric wheelchair in the market are the stationarities for crossing over blockage, and the radius of turning is excessive, and the comfortableness in traveling process.In the reality test, the angle of inclination that jib system mechanism is produced when overcoming leaping over obstacles is when the obstacle height surpasses 50mm; Therefore the seat maintenance level that can't continue researches and develops feature richness, moderate intelligent wheel chair product, superior walking-replacing tool is provided for old people, people with disability; Thereby improve this crowd quality of life, help them to regain viability; Give the sensation of self-respect, self-support for change, help them to reintegrate society, improve their enjoyment and confidence life; Alleviate family and burden on society, the development that promotes social harmony is significant and will produce the huge social benefit.
The utility model content
The purpose of this utility model is to overcome the defective that prior art exists, provide a kind of good stability, safe, comfortable, six take turns the adaptive equalization electric wheelchair flexibly.
The technical scheme that realizes this utility model purpose is: a kind of six take turns the adaptive equalization electric wheelchair, have the wheelchair chassis, and are arranged on seat, driving device and control device on the wheelchair chassis; Said wheelchair chassis has main backstop, middle bracket, driving wheel, direction to wheel, battery case, live axle and cantilever; Said main backstop is fixedly connected with middle bracket; The two ends of said live axle are provided with driving wheel; One end and the wheelchair chassis of said cantilever are rotationally connected, the other end through rolling bearing and roller chain wheel closure to wheel; The right side of said seat is provided with operating grip; Also has the adaptive equalization adjusting device; Said adaptive equalization adjusting device is arranged between wheelchair chassis and the seat, and the adaptive equalization adjusting device has left and right adjusting turbine and worm reducing gear, up-down adjustment turbine and worm reducing gear, balance plate and support; Said left and right adjusting turbine and worm reducing gear setting and up-down adjustment turbine and worm reducing gear are arranged in the balance plate, and are in transmission connection with servomotor; The two ends of said support connect seat and adaptive equalization adjusting device respectively.
The said driving device of technique scheme has servomotor, shaft coupling, intermediate propeller shaft and wheelchair power transmission shaft; Said servomotor and shaft coupling are in transmission connection; Said shaft coupling and intermediate propeller shaft are in transmission connection; Said intermediate propeller shaft is connected with the wheelchair power transmission shaft through sprocket wheel, chain; Said wheelchair power transmission shaft and driving wheel are in transmission connection.
The said control device of technique scheme has battery, PLC and gyrosensor; Said battery is arranged in the battery case; Said PLC and gyrosensor are arranged on the wheelchair chassis; Said battery and PLC electrically connect; The input of said PLC connects gyrosensor, and outfan connects servomotor.
Technique scheme also has shock absorbing apparatus; Said shock absorbing apparatus has the self adaptation spring; Said self adaptation spring is provided with between cantilever and the wheelchair chassis through upper and lower check ring connection.
The said direction of technique scheme has the vertically disposed roller of many groups on wheel, and every prescription is to having two directions that are set up in parallel to wheel to wheel.
The said control device of technique scheme also has two groups of servo amplifiers; Said one group of servo amplifier is arranged between two groups of PLC; Another group servo amplifier is arranged between two Battery packs.
Has motor housing on the said servomotor of technique scheme.
The said servomotor of technique scheme is a brshless DC motor.
The said PLC of technique scheme is Mitsubishi PLC Fx2N-16MR.
The utlity model has positive effect:
(1) this utility model has increased the adaptive equalization adjusting device; Fuselage rotation information according to the two axis gyroscope sensor; Horizontal equilibrium is judged by PLC in conversion back whether; After PLC handled, control electric wheelchair motor-driven worm and gear was realized balance exercise, makes the wheelchair occupant can remain level.
(2) this utility model also has shock absorbing apparatus; Shock absorbing apparatus has the self adaptation spring; The self adaptation spring is provided with between cantilever and the wheelchair chassis through back-up ring connection about the spring; Have obstacle crossing ability preferably, driving wheel can change and adjustment voluntarily everywhere, increase the chassis paste ground should be acute and reduce the vehicle body vibrations and jolt; User safety and comfortableness are provided, but when wheelchair is walked, have more the advantage of stability and the running of vehicle body original place.
(3) the employing direction of this utility model is to wheel, and direction has the vertically disposed roller of many groups on wheel, and every prescription is to having two directions that are set up in parallel to wheel to wheel.When wheelchair moves in the original place, through the trundle of vertical direction, can effectively reduce side-friction force, and make the wheelchair smooth operation, its durability and functional to meet electric wheelchair required provides the running radius littler than traditional push chairs simultaneously.
Description of drawings
For the content that makes this utility model is expressly understood more easily,, this utility model is done further detailed explanation, wherein below according to specific embodiment and combine accompanying drawing
Fig. 1 is the structural representation of this utility model;
Fig. 2 is the structural representation on the wheelchair chassis of this utility model;
Fig. 3 is the left view of Fig. 2;
Fig. 4 is the structural representation of the adaptive equalization adjusting device of this utility model;
Fig. 5 is the structural representation of the direction of this utility model to wheel;
1. wheelchair chassis among the figure, 11. main backstops, 12. middle bracket, 13. driving wheels, 14. directions are to wheel; 141. roller, 15. battery cases, 16. live axles, 17. cantilevers, 2. seat; 21. operating grip, 3. driving device, 31. servomotors, 32. motor housings, 4. control device; 41. battery, 42.PLC, 43. servo amplifiers, 5. adaptive equalization adjusting device, 51. left and right adjusting turbine and worm reducing gears; 52. up-down adjustment turbine and worm reducing gear, 53. balance plates, 54. supports, 6. shock absorbing apparatus.
The specific embodiment
See Fig. 1-5, the utlity model has wheelchair chassis 1, and be arranged on the The One On The Chassis seat of wheelchair 2, driving device 3 and control device 4; Wheelchair chassis 1 has main backstop 11, middle bracket 12, driving wheel 13, direction to wheel 14, battery case 15, live axle 16 and cantilever 17; Main backstop 11 is fixedly connected with middle bracket 12; The two ends of live axle 16 are provided with driving wheel 13; One end and the wheelchair chassis 1 of cantilever 17 are rotationally connected, the other end through rolling bearing and roller chain wheel closure to taking turns 14; Direction has the vertically disposed roller 141 of many groups on wheel 14, and every prescription is to having two directions that are set up in parallel to wheel to wheel 14; The right side of seat 2 is provided with operating grip 21; Also has adaptive equalization adjusting device 5; Adaptive equalization adjusting device 5 is arranged between wheelchair chassis 1 and the seat 2, and adaptive equalization adjusting device 5 has left and right adjusting turbine and worm reducing gear 51, up-down adjustment turbine and worm reducing gear 52, balance plate 53 and support 54; Left and right adjusting turbine and worm reducing gear 51 is provided with and up-down adjustment turbine and worm reducing gear 52 is arranged in the balance plate 53, and is in transmission connection with servomotor 31; The two ends of support 54 connect seat 2 and adaptive equalization adjusting device 5 respectively.
Also has shock absorbing apparatus 6; Shock absorbing apparatus 6 has the self adaptation spring; The self adaptation spring is provided with between cantilever 12 and the wheelchair chassis 1 through upper and lower check ring connection.
Servomotor 31 is a brshless DC motor.
PLC42 is Mitsubishi PLC Fx2N-16MR.
The operation principle of this utility model is: user is through operating grip 21 control wheel chair sports; Detect tilt signals through gyrosensor; Send signal to PLC42; Through control servomotor 31 after A/D and the D/A module Data Processing, thereby the turbine and worm of driving adaptive equalization adjusting device 5 is realized the balance adjustment of wheelchair.
Above-described specific embodiment; Purpose, technical scheme and beneficial effect to this utility model have carried out further explain, it should be understood that the above is merely the specific embodiment of this utility model; Be not limited to this utility model; All within the spirit and principle of this utility model, any modification of being made, be equal to replacement, improvement etc., all should be included within the protection domain of this utility model.
Claims (9)
1. take turns the adaptive equalization electric wheelchair for one kind six, have wheelchair chassis (1), and be arranged on seat (2), driving device (3) and control device (4) on the wheelchair chassis (1); Said wheelchair chassis (1) has main backstop (11), middle bracket (12), driving wheel (13), direction to wheel (14), battery case (15), live axle (16) and cantilever (17); Said main backstop (11) is fixedly connected with middle bracket (12); The two ends of said live axle (16) are provided with driving wheel (13); One end of said cantilever (17) and wheelchair chassis (1) are rotationally connected, the other end through rolling bearing and roller chain wheel closure to taking turns (14); The right side of said seat (2) is provided with operating grip (21); It is characterized in that: also have adaptive equalization adjusting device (5); Said adaptive equalization adjusting device (5) is arranged between wheelchair chassis (1) and the seat (2), and adaptive equalization adjusting device (5) has left and right adjusting turbine and worm reducing gear (51), up-down adjustment turbine and worm reducing gear (52), balance plate (53) and support (54); Said left and right adjusting turbine and worm reducing gear (51) is provided with and up-down adjustment turbine and worm reducing gear (52) is arranged in the balance plate (53), and is in transmission connection with servomotor (31); The two ends of said support (54) connect seat (2) and adaptive equalization adjusting device (5) respectively.
2. according to claim 1 six take turns the adaptive equalization electric wheelchair, it is characterized in that: said driving device (3) has servomotor (31), shaft coupling, intermediate propeller shaft and wheelchair power transmission shaft; Said servomotor (31) is in transmission connection with shaft coupling; Said shaft coupling and intermediate propeller shaft are in transmission connection; Said intermediate propeller shaft is connected with the wheelchair power transmission shaft through sprocket wheel, chain; Said wheelchair power transmission shaft and driving wheel (13) are in transmission connection.
3. according to claim 1 six take turns the adaptive equalization electric wheelchair, it is characterized in that: said control device (4) has battery (41), PLC (42) and gyrosensor; Said battery (41) is arranged in the battery case (15); Said PLC (42) and gyrosensor are arranged on the wheelchair chassis (1); Said battery (41) electrically connects with PLC (42); The input of said PLC (42) connects gyrosensor, and outfan connects servomotor (31).
4. according to claim 1 six take turns the adaptive equalization electric wheelchair, it is characterized in that: also have shock absorbing apparatus (6); Said shock absorbing apparatus (6) has the self adaptation spring; Said self adaptation spring is provided with between cantilever (12) and wheelchair chassis (1) through upper and lower check ring connection.
5. according to claim 1 six take turns the adaptive equalization electric wheelchair, it is characterized in that: said direction has many group vertically disposed rollers (141) on wheel (14), and every prescription is to having two directions that are set up in parallel to wheel to wheel (14).
6. according to claim 3 six take turns the adaptive equalization electric wheelchair, it is characterized in that: said control device (4) also has two groups of servo amplifiers (43); Said one group of servo amplifier (43) is arranged between two groups of PLC (42); Another group servo amplifier (43) is arranged between two Battery packs (41).
7. according to claim 2 six take turns the adaptive equalization electric wheelchair, it is characterized in that: have motor housing (32) on the said servomotor (31).
8. according to claim 2 six take turns the adaptive equalization electric wheelchair, it is characterized in that: said servomotor (31) is a brshless DC motor.
9. according to claim 3 six take turns the adaptive equalization electric wheelchair, it is characterized in that: said PLC (42) is Mitsubishi PLC Fx2N-16MR.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220073697 CN202437494U (en) | 2012-03-01 | 2012-03-01 | Six-wheeled self-adaption balance electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220073697 CN202437494U (en) | 2012-03-01 | 2012-03-01 | Six-wheeled self-adaption balance electric wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202437494U true CN202437494U (en) | 2012-09-19 |
Family
ID=46818951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220073697 Expired - Fee Related CN202437494U (en) | 2012-03-01 | 2012-03-01 | Six-wheeled self-adaption balance electric wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202437494U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103860339A (en) * | 2014-03-31 | 2014-06-18 | 温州医科大学附属第二医院育英儿童医院 | Wheelchair |
| CN105167925A (en) * | 2015-09-27 | 2015-12-23 | 邹帆 | Intelligent electric wheelchair with gyroscope stability increase function |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
| CN107890396A (en) * | 2017-11-30 | 2018-04-10 | 定远县中林机械技术有限公司 | A kind of self-balancing seat |
| CN108032925A (en) * | 2017-12-06 | 2018-05-15 | 定远县中林机械技术有限公司 | A kind of self-balancing equips electronic tracking car system |
| CN108524118A (en) * | 2018-03-09 | 2018-09-14 | 定远县中林机械技术有限公司 | A kind of comprehensive active balancing electric wheel-chair vehicle |
| CN108583191A (en) * | 2018-03-09 | 2018-09-28 | 定远县中林机械技术有限公司 | A kind of vehicle bridge component for realizing vehicle body active balancing |
| CN108652849A (en) * | 2018-05-23 | 2018-10-16 | 北京益康生活智能科技有限公司 | It is a kind of to carry lifting and the electric wheelchair to connection function |
| CN109512593A (en) * | 2018-11-19 | 2019-03-26 | 潘柏翰 | A kind of self-balancing wheelchair for adapting to climb building |
| CN109966068A (en) * | 2019-02-26 | 2019-07-05 | 刘铭豪 | Intelligent elder's electric wheel-chair vehicle |
| US10772774B2 (en) | 2016-08-10 | 2020-09-15 | Max Mobility, Llc | Self-balancing wheelchair |
-
2012
- 2012-03-01 CN CN 201220073697 patent/CN202437494U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103860339A (en) * | 2014-03-31 | 2014-06-18 | 温州医科大学附属第二医院育英儿童医院 | Wheelchair |
| CN105167925A (en) * | 2015-09-27 | 2015-12-23 | 邹帆 | Intelligent electric wheelchair with gyroscope stability increase function |
| US10772774B2 (en) | 2016-08-10 | 2020-09-15 | Max Mobility, Llc | Self-balancing wheelchair |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
| CN107890396A (en) * | 2017-11-30 | 2018-04-10 | 定远县中林机械技术有限公司 | A kind of self-balancing seat |
| CN108032925A (en) * | 2017-12-06 | 2018-05-15 | 定远县中林机械技术有限公司 | A kind of self-balancing equips electronic tracking car system |
| CN108583191A (en) * | 2018-03-09 | 2018-09-28 | 定远县中林机械技术有限公司 | A kind of vehicle bridge component for realizing vehicle body active balancing |
| CN108524118A (en) * | 2018-03-09 | 2018-09-14 | 定远县中林机械技术有限公司 | A kind of comprehensive active balancing electric wheel-chair vehicle |
| CN108652849A (en) * | 2018-05-23 | 2018-10-16 | 北京益康生活智能科技有限公司 | It is a kind of to carry lifting and the electric wheelchair to connection function |
| CN108652849B (en) * | 2018-05-23 | 2024-03-26 | 北京益康生活智能科技有限公司 | Electric wheelchair with lifting and docking functions |
| CN109512593A (en) * | 2018-11-19 | 2019-03-26 | 潘柏翰 | A kind of self-balancing wheelchair for adapting to climb building |
| CN109512593B (en) * | 2018-11-19 | 2020-05-08 | 潘柏翰 | Self-balancing wheelchair suitable for climbing stairs |
| CN109966068A (en) * | 2019-02-26 | 2019-07-05 | 刘铭豪 | Intelligent elder's electric wheel-chair vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120919 Termination date: 20130301 |