CN202568664U - Omni-directional intelligent electrically powered wheelchair - Google Patents

Omni-directional intelligent electrically powered wheelchair Download PDF

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Publication number
CN202568664U
CN202568664U CN 201220086520 CN201220086520U CN202568664U CN 202568664 U CN202568664 U CN 202568664U CN 201220086520 CN201220086520 CN 201220086520 CN 201220086520 U CN201220086520 U CN 201220086520U CN 202568664 U CN202568664 U CN 202568664U
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CN
China
Prior art keywords
seat
carrier frame
wheelchair
wheel
fixed
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Expired - Fee Related
Application number
CN 201220086520
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Chinese (zh)
Inventor
胡建军
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CHANGZHOU HANDY ROBOTICS TECHNOLOGY Inc
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CHANGZHOU HANDY ROBOTICS TECHNOLOGY Inc
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Priority to CN 201220086520 priority Critical patent/CN202568664U/en
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Publication of CN202568664U publication Critical patent/CN202568664U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses an omni-directional intelligent electrically powered wheelchair, which comprises a base plate frame and a seat chair, wherein driving arms which correspond to each other right and left are hinged to two sides below the base plate frame respectively; Mecanum wheels which form a pair of front wheels and a pair of rear wheels are connected to the driving arms; ultrasonic sensors are arranged above a pair of front wheels in the front of the seat chair and on two sides below the seat chair respectively; infrared sensors are arranged outside the Mecanum wheels respectively; a control box and an operating handle are arranged on one handrail of the seat chair; driving control plates are arranged in the driving arms; and circuits of the driving control plates are connected with a digital signal processor (DSP) processor. Compared with the conventional two-wheel rear driving electrically powered wheelchair, the omni-directional intelligent electrically powered wheelchair has the advantages that the electrically powered wheelchair has the omni-directional movable capacity of transverse direction, inclined direction and the like and has high motion flexibility, and environment at the periphery of the wheelchair is detected by the ultrasonic sensors and the infrared sensors to provide the information of barriers which are possible to block the motion of the wheelchair for a rider, so that the automatic obstacle avoidance or braking of the wheelchair during driving is realized, and the using safety of the wheelchair is improved.

Description

Omnidirectional's intelligent electric wheelchair
Technical field
This utility model relates to a kind of omnidirectional intelligent electric wheelchair.
Background technology
Along with the raising day by day of living standard, electric wheelchair be owing to can remedy middle-aged and elderly people and the inconvenience of lower limb disabled aspect walking, and receives publicity gradually and pay attention to.The electric wheelchair of at present existing multiple model drops into practical.Mostly current product sold is the structural design of the conventional manual wheelchair of employing: two large diameter trailing wheels are as driving wheel, and the universal caster wheel of two minor diameters can be realized moving forward and backward and rotating as forward support wheel.On the trailing wheel axis, radius of turn is big based on the wheelchair center of rotation of this design, and occupation space is also big, is inappropriate in the place of limited space such as elevator, office using; The forward universal caster wheel of wheelchair can not can not be controlled direction again by outputting power in addition, and this causes wheelchair ability to act and controllability on the not gentle road surface that obstacle arranged to descend.In addition, existing going of electric wheelchair relies on user manually to control fully, and to the response speed of user, the judgement and the operating accuracy of distance, speed are had relatively high expectations, and causes the part old people normally not use safely.Application number is 200710173079 patent applications, has disclosed a kind of intelligent wheel chair, and it is on the basis of function of riding instead of walk; Through the mechanical arm that setting has 7 degree of freedom, help low old people of self care ability or people with disability to accomplish the basic acts that is applicable to life, but this intelligent wheel chair is in moving process; Only possess crashproof function, and can't get around barrier, particularly when user runs into barrier and in time do not react; Can not in time dodge barrier or stop wheelchair and move, guarantee the safety of user, simultaneously; Its used mobile opinion also can only realize moving of rectilinear direction; Can not do moving of the comprehensive any direction of 360 degree, therefore, be difficult to adapt to the place less relatively and use in the space.
The utility model content
The technical problem that this utility model will solve is: overcome the deficiency in the prior art, a kind of have autonomous hedging function, the comprehensive mobile omnidirectional's intelligent electric wheelchair of realization are provided.
This utility model solves the technical scheme that its technical problem adopted: a kind of omnidirectional intelligent electric wheelchair; Comprise carrier frame, be positioned at the seat that the carrier frame top is connected with carrier frame; The left and right sides, said carrier frame below is hinged with the corresponding two pairs of actuating arms that driven by direct current generator in the left and right sides respectively; Be connected with the Mecanum wheel that constitutes a pair of front-wheel and pair of rear wheels on the said actuating arm; Under-seat both sides, seat the place ahead and be positioned at a pair of front-wheel top and be respectively equipped with ultrasonic sensor, the outside of said Mecanum wheel is respectively equipped with infrared sensor, and the handrail of seat is provided with control box and operating grip; Also be provided with the drive controlling plate that electrically connects with direct current generator in the actuating arm, drive controlling printed line road is connected with dsp processor.
Specifically, be provided with between described carrier frame and the seat adjustable seat go up and down, by the up-down gas bar of operating grip control, up-down gas bar upper end is fixed with the seat bottom surface, up-down gas bar lower end and carrier frame are fixed.
For eliminate the tilting moment that seat and passenger are produced in omnidirectional's moving process, described seat bottom surface is fixed with guide pin bushing, is fixed with the guide pin bushing seat on the carrier frame, and guide pin bushing is slidingly arranged in the guide pin bushing seat, and up-down gas bar is installed in the guide pin bushing.
Described actuating arm comprises housing, driving shaft; Mecanum wheel is fixed on the driving shaft; Direct current generator is fixed in the housing; Be provided with deceleration device between direct current generator output shaft and the driving shaft, the drive controlling plate of control direct current generator running is fixed on the housing medial surface, and drive controlling plate also circuit is connected with Hall element.
Further; Described deceleration device comprises synchronous band reducing gear and gear reduction; The synchronous band reducing gear big belt wheel that comprises the small pulley that is installed on the direct current generator output shaft, be connected through band synchronously with small pulley, gear reduction comprise and greatly the co-axial pinion of belt wheel, be installed on the driving shaft gear wheel with pinion.
Be the buffering and shock preventing of realization wheelchair and the effect of balance front and rear wheel pressure, but be provided with the shock absorber of axial stretching between described housing and the carrier frame, shock absorber one end is hinged with the support that is located on the housing, and the shock absorber other end and carrier frame are hinged.
The described carrier frame left and right sides is fixed with the case that covers the actuating arm top respectively, and ultrasonic sensor and infrared sensor are separately fixed on the case.
The beneficial effect of this utility model is: compare with the two-wheeled rear-guard electric wheelchair of routine, the said electric wheelchair of this utility model has like omnidirectional's locomotivity such as horizontal, oblique, has bigger kinematic dexterity, is particularly suitable in the environment of limited space, using.Simultaneously; This electric wheelchair can detect wheelchair environment on every side through ultrasonic sensor and infrared sensor; The information of the barrier that possibly hinder wheel chair sport is provided as the occupant; And can under the situation that the occupant does not in time make a response, drive wheelchair automatically according to sensing data and keep away barrier or be the wheelchair braking, improve the safety in utilization of wheelchair.
Description of drawings
Below in conjunction with accompanying drawing and embodiment this utility model is further specified.
Fig. 1 is the stravismus structural representation of this utility model.
Fig. 2 is the structural representation of the said actuating arm of this utility model.
Fig. 3 is an A-A cutaway view among Fig. 2.
Fig. 4 is the partial structurtes sketch map of said carrier frame of this utility model and seat junction.
Fig. 5 is the control principle block diagram of this utility model.
Among the figure 1. carrier frames, 2. seats, 3. actuating arms, 31. direct current generators, 32. drive controlling plates, 33. housings, 34. driving shafts, 35. Hall elements 36. synchronously band reducing gear 37. gear reductions 38. small pulleys 39. be with 40. big belt wheel 41. pinions 42. gear wheels 43. supports 4. Mecanum wheels 5. ultrasonic sensors 6. infrared sensors 7. control boxes 8. operating grips 9. up-down gas bars 10. guide pin bushings 11. guide pin bushing seats 12. shock absorbers 13. cases 14. batteries 15., 16. short 17. magnet steel of selling of having strong market potential synchronously
The specific embodiment
Combine accompanying drawing that this utility model is further described now.The sketch map that these accompanying drawings are simplification is only explained the basic structure of this utility model in a schematic way, so it only shows the formation relevant with this utility model.
Like Fig. 1~a kind of omnidirectional intelligent electric wheelchair shown in Figure 4; Comprise carrier frame 1, be positioned at the seat 2 of carrier frame 1 top; Both sides, said carrier frame 1 below are hinged with the corresponding two pairs of actuating arms 3 that driven by direct current generator 31 in the left and right sides respectively; Be connected with the Mecanum wheel 4 (Mecanum Wheel) that constitutes a pair of front-wheel and pair of rear wheels on the said actuating arm 3, the characteristics that can produce axial thrust load when utilizing Mecanum wheel 4 to roll realize the omnidirectional moving of wheelchair; Both sides, seat 2 below, seat 2 the place aheads and be positioned at a pair of front-wheel top and be respectively equipped with ultrasonic sensor 5; The outside of said Mecanum wheel 4 is respectively equipped with infrared sensor 6; The handrail of seat 2 is provided with control box 7 and operating grip 8; Also be provided with the drive controlling plate 32 that electrically connects with direct current generator 31 in the actuating arm 3, drive controlling plate 32 circuits are connected with dsp processor.
Between carrier frame 1 and seat 2, be provided with adjustable seat 2 go up and down, by the up-down gas bar 9 of operating grip 8 controls; Seat 2 bottom surfaces are fixed with guide pin bushing 10, are fixed with guide pin bushing seat 11 on the carrier frame 1, and guide pin bushing 10 is slidingly arranged in the guide pin bushing seat 11; Guide pin bushing seat 11 moves axially relatively; Up-down gas bar 9 is installed in the guide pin bushing 10, and up-down gas bar 9 upper ends and seat 2 bottom surfaces are fixed, and up-down gas bar 9 lower ends and carrier frame 1 are fixing; So being moved and locate for the oscilaltion of seat 2 by up-down gas bar 9 provides supporting force, and guide pin bushing 10 is used for eliminating the tilting moment that seat 2 and passenger are produced at omnidirectional's moving process.
Operating grip 8 adopts the triple axle handle, and all around of this operating grip 8 and synthetic rotation the thereof are respectively applied for forward-reverse, left and right sides translation and the resultant motion of control wheelchair; The another one axle of operating grip 8: around the rotation of operating grip 8 control stick axis, be used to control rotatablely moving of wheelchair, using an operating grip 8 thus is that the steerable wheel chair is realized omnidirectional moving.
Actuating arm 3; Total quadruplet; Be located at the left and right sides, carrier frame 1 below respectively, wherein be positioned at the front-wheel part that a pair of actuating arm corresponding about carrier frame 1 front end 3 supports wheelchair, be positioned at the trailing wheel part that a pair of actuating arm corresponding about carrier frame 1 rear end 3 supports wheelchair.Said actuating arm 3 comprises housing 33, is fixed on direct current generator 31 and driving shaft 34 in the housing 33; Mecanum wheel 4 is fixed on the driving shaft 34; Between the output shaft of direct current generator 31 and driving shaft 34, be provided with deceleration device; Said deceleration device comprises synchronous band reducing gear 36 and gear reduction 37; Synchronously band reducing gear 36 comprise the small pulley 38 that is installed on direct current generator 31 output shafts, with small pulley 38 through synchronously with the 39 big belt wheels 40 that are connected; Gear reduction 37 comprises with the co-axial pinion of big belt wheel 40 41, is installed on the driving shaft 34 gear wheel 42 with pinion 41 engagements, and the drive controlling plate 32 of control direct current generator 31 runnings is fixed on housing 33 medial surface, and drive controlling plate 32 is gone back circuit and is connected with Hall element 35.
Be fixed with and the co-axial magnet steel 17 of small pulley 38 rotation axiss on small pulley 38 surfaces; The circuit board of Hall element 35 is fixed on the support of direct current generator 31 through screw; And make Hall chip (model is AS5040) center and magnet steel 17 center-aligned on the circuit board that is welded on Hall element 35, and keep chip and magnet steel 17 at a distance of 1mm.Drive controlling plate 32 is fixed on the housing 33 through screw; And the MOSFET power tube on the drive controlling plate 32 is contacted with housing 33; Drive controlling plate 32 is connected with direct current generator 31 and Hall element 35 chips through lead, forms speed closed loop, realizes the control to direct current generator 31.The installation form of above-mentioned integrated form, simple and compact for structure, be beneficial to assembling and safeguard and shield the external interference signal.
Wheel chair sport adopts accumulator 14 as power source; Two joint accumulator 14 are fixed in the carrier frame 1; Simultaneously accordingly also all be fixed in the carrier frame 1 like electric elements such as relay, patch panel, panel, switches; Be connected with control box 7 with quadruplet actuating arm 3 respectively through lead, and energy be provided for the direct current generator 31 on each actuating arm 3.
Actuating arm 3 and carrier frame 1 are 15 hinged through having strong market potential; Be provided with shock absorber 12 between the housing 33 of actuating arm 3 and the carrier frame 1 simultaneously; Shock absorber 12 1 ends are hinged through pin with the support 43 that is located on the housing 33, and the short pin 16 on shock absorber 12 other ends and the carrier frame 1 is hinged.Shock absorber 12 can axial stretching, and resilience under the effect of portion's spring within it behind the pressurized realizes have strong market potential 15 swings of actuating arm 3 on carrier frame 1 with this, thereby realizes the effect of buffering and shock preventing and balance front and rear wheel pressure.
Described carrier frame 1 left and right sides is fixed with the case 13 that covers actuating arm 3 tops through six screws respectively, and ultrasonic sensor 5 is separately fixed on the case 13 with infrared sensor 6.Specifically; Eight ultrasonic sensors 5 and four infrared sensors 6 are installed on the case 13, and wherein six ultrasonic sensors 5 are installed on the case 13 of seat 2 below the right and lefts three on every limit respectively; With screw its circuit board is fixed on the case 13; It transmits and receives element and passes the preformed hole on the case 13, towards two side directions, is used to detect the object in the 1.5 meters scopes in the wheelchair left and right sides; Two other ultrasonic sensor 5 is installed in respectively on the case 13 of two front-wheel tops in the same manner, towards the place ahead, is used to detect the object in 1.5 meters scopes of wheelchair dead ahead.Four infrared sensors 6 are separately fixed at by four Mecanum wheel 4 outsides through the screwed hole on the case 13, and downward-sloping 30 °, and the height on road surface changes in 0.5 meter in front-wheel the place ahead when being used to detect wheelchair and moving, trailing wheel rear.After interior other objects of distance possibly hinder wheel chair sport near ultrasonic sensor 5 or infrared sensor 6 detect; Through display lamp on the control box 7 and speaker the occupant is carried out hint and caveat; If the occupant does not make correct response; Then receive the signal of ultrasonic sensor 5 or infrared sensor 6, send instruction, realize driving automatically wheelchair and keep away barrier or be the wheelchair braking by the dsp processor of wheelchair.
Compare with the two-wheeled rear-guard electric wheelchair of routine; The said electric wheelchair of this utility model adopts four Mecanum wheels 4 as driving wheel; Possess like omnidirectional's locomotivity such as horizontal, oblique, have bigger kinematic dexterity, be particularly suitable in the environment of limited space, using.Simultaneously; This electric wheelchair can detect wheelchair environment on every side through ultrasonic sensor 5 and infrared sensor 6; As the occupant information of the barrier that possibly hinder wheel chair sport is provided, and can be under the situation that the occupant does not in time make a response, dsp processor sends instruction according to sensing data; Automatically drive wheelchair and keep away barrier or be the wheelchair braking, thereby improved the safety in utilization of wheelchair.
Referring to Fig. 5, with self-navigation and keep away the barrier process to sketch work process following:
When wheelchair is in certain circumstances not known; (each ultrasonic wave module has a transmitting terminal and a receiving terminal to use self a plurality of ultrasonic sensors 5; Through measurement reflected signal that receives and the time difference that transmits; Come measuring distance) the detection surrounding, the positional information of acquired disturbance thing.Survey repeatedly through a plurality of ultrasonic sensors 5, can set up the obstacle location map.Cartographic information sends to dsp processor through the RS232 bus.The control command of control operation handle 8 or voice control port simultaneously sends to dsp processor through RS232.Dsp processor will be used path planning algorithm; In conjunction with the obstacle map; The path that the passenger requires is satisfied in generation, and converts the path rotary speed information of each driving wheel into, sends to drive controlling plate 32 through the RS232 bus; Drive controlling plate 32 constitutes closed loop with Hall element 35, can control the rotating speed of direct current generator 31.The detection of a target of infrared sensor 6 is the fluctuating on ground, the processing of result data and utilize mode identical with ultrasonic sensor 5.
This wheelchair also can carry out physical signs monitoring to the occupant, utilizes wearable physical signs detecting sensor, information such as passenger's heart rate, blood pressure, blood oxygen is monitored in real time, and information is sent to dsp processor.Dsp processor and built-in specialist system (program) are compared, and obtain the result of passenger's body health status, if predict danger, then send early warning through the mode of sound or demonstration.
Above-mentioned embodiment is only for explaining the technical conceive and the characteristics of this utility model; Its purpose is to let the personage that is familiar with this technology can understand the content of this utility model and implements; 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 in the protection domain of this utility model.

Claims (7)

1. omnidirectional's intelligent electric wheelchair; Comprise carrier frame (1), be positioned at the seat (2) that carrier frame (1) top is connected with carrier frame (1); It is characterized in that: the left and right sides, carrier frame (1) below is hinged with the corresponding two pairs of actuating arms (3) that driven by direct current generator (31) in the left and right sides respectively; Be connected with the Mecanum wheel (4) that constitutes a pair of front-wheel and pair of rear wheels on the said actuating arm (3); Both sides, seat (2) below, seat (2) the place ahead and be positioned at a pair of front-wheel top and be respectively equipped with ultrasonic sensor (5), the outside of said Mecanum wheel (4) is respectively equipped with infrared sensor (6), and the handrail of seat (2) is provided with control box (7) and operating grip (8); Also be provided with the drive controlling plate (32) that electrically connects with direct current generator (31) in the actuating arm (3), drive controlling plate (32) circuit is connected with dsp processor.
2. omnidirectional according to claim 1 intelligent electric wheelchair; It is characterized in that: be provided with between described carrier frame (1) and the seat (2) adjustable seat (2) go up and down, by the up-down gas bar (9) of operating grip (8) control; Up-down gas bar (9) upper end is fixed with seat (2) bottom surface, and up-down gas bar (9) lower end and carrier frame (1) are fixing.
3. omnidirectional according to claim 2 intelligent electric wheelchair; It is characterized in that: described seat (2) bottom surface is fixed with guide pin bushing (10); Be fixed with guide pin bushing seat (11) on the carrier frame (1), guide pin bushing (10) is slidingly arranged in the guide pin bushing seat (11), and up-down gas bar (9) is installed in the guide pin bushing (10).
4. omnidirectional according to claim 1 intelligent electric wheelchair; It is characterized in that: described actuating arm (3) also comprises housing (33), driving shaft (34); Mecanum wheel (4) is fixed on the driving shaft (34), and direct current generator (31) is fixed in the housing (33), is provided with deceleration device between direct current generator (31) output shaft and the driving shaft (34); The drive controlling plate (32) of control direct current generator (31) running is fixed on housing (33) medial surface, and drive controlling plate (32) is gone back circuit and is connected with Hall element (35).
5. omnidirectional according to claim 4 intelligent electric wheelchair; It is characterized in that: described deceleration device comprises synchronous band reducing gear (36) and gear reduction (37); Synchronous band reducing gear (36) the big belt wheel (40) that comprises the small pulley (38) that is installed on direct current generator (31) output shaft, be connected through band (39) synchronously with small pulley (38), gear reduction (37) comprise with the co-axial pinion of belt wheel (40) (41) greatly, are installed in driving shaft (34) upward and the gear wheel (42) that meshes of pinion (41).
6. omnidirectional according to claim 4 intelligent electric wheelchair; It is characterized in that: described housing (33) and carrier frame (1) but between be provided with the shock absorber (12) of axial stretching; Shock absorber (12) one ends are hinged with the support (43) that is located on the housing (33), and shock absorber (12) other end and carrier frame (1) are hinged.
7. omnidirectional according to claim 1 intelligent electric wheelchair; It is characterized in that: described carrier frame (1) left and right sides is fixed with the case (13) that covers actuating arm (3) top respectively, and ultrasonic sensor (5) and infrared sensor (6) are separately fixed on the case (13).
CN 201220086520 2012-03-09 2012-03-09 Omni-directional intelligent electrically powered wheelchair Expired - Fee Related CN202568664U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102600026A (en) * 2012-03-09 2012-07-25 常州汉迪机器人科技有限公司 Omni-directional intelligent electric wheel chair
CN103932847A (en) * 2014-04-04 2014-07-23 中国石油大学(华东) Intelligent wheelchair vehicle based on drive-by-wire technology and control method
CN104000694A (en) * 2014-05-27 2014-08-27 上海交通大学 Electrically powered wheelchair auxiliary driving system and method
CN105250085A (en) * 2015-11-02 2016-01-20 深圳佳宜佳科技有限公司 Automatic obstacle avoidance control system of electric wheelchair
CN107582259A (en) * 2017-07-27 2018-01-16 浙江佑仁智能机器人有限公司 Can be gone to toilet automatic wheelchair
CN107791255A (en) * 2017-09-15 2018-03-13 北京石油化工学院 One kind is helped the elderly robot and speech control system
GB2559786A (en) * 2017-02-17 2018-08-22 Inclusiviti Ltd Mobility apparatus

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102600026A (en) * 2012-03-09 2012-07-25 常州汉迪机器人科技有限公司 Omni-directional intelligent electric wheel chair
CN103932847A (en) * 2014-04-04 2014-07-23 中国石油大学(华东) Intelligent wheelchair vehicle based on drive-by-wire technology and control method
CN103932847B (en) * 2014-04-04 2016-08-31 中国石油大学(华东) A kind of intelligent wheelchair based on wire control technology and control method
CN104000694A (en) * 2014-05-27 2014-08-27 上海交通大学 Electrically powered wheelchair auxiliary driving system and method
CN105250085A (en) * 2015-11-02 2016-01-20 深圳佳宜佳科技有限公司 Automatic obstacle avoidance control system of electric wheelchair
GB2559786A (en) * 2017-02-17 2018-08-22 Inclusiviti Ltd Mobility apparatus
GB2559786B (en) * 2017-02-17 2021-02-17 Inclusiviti Ltd Mobility apparatus
CN107582259A (en) * 2017-07-27 2018-01-16 浙江佑仁智能机器人有限公司 Can be gone to toilet automatic wheelchair
CN107791255A (en) * 2017-09-15 2018-03-13 北京石油化工学院 One kind is helped the elderly robot and speech control system

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C53 Correction of patent for invention or patent application
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Inventor after: Lin Lidi

Inventor after: Gao Yifu

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Termination date: 20190309

CF01 Termination of patent right due to non-payment of annual fee