CN203089608U - Steering control mechanism of electric wheelchair - Google Patents
Steering control mechanism of electric wheelchair Download PDFInfo
- Publication number
- CN203089608U CN203089608U CN 201320114009 CN201320114009U CN203089608U CN 203089608 U CN203089608 U CN 203089608U CN 201320114009 CN201320114009 CN 201320114009 CN 201320114009 U CN201320114009 U CN 201320114009U CN 203089608 U CN203089608 U CN 203089608U
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- side chain
- screw
- screw mandrel
- connecting plate
- deflecting roller
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Abstract
The utility model discloses a steering control mechanism of an electric wheelchair. The steering control mechanism of the electric wheelchair is characterized by mainly comprising a machine frame, a steering driving device, a first middle branch chain, a second middle branch chain and a steering wheel, wherein the steering deriving device is fixed on the machine frame, the middle of the first middle branch chain is hinged to the machine frame, one end of the first middle branch chain is connected with the steering driving device, the other end of the first middle branch chain is connected with the second middle branch chain, the second middle branch chain is connected with the steering wheel, the steering wheel is hinged to the machine frame, the steering driving device is composed of a screw rod rear bearing, a screw rod, a screw rod front bearing, a coupler, a front bearing seat, a motor with a speed reducer, a nut and a rear bearing seat, the first middle branch chain comprises an upper connecting plate, a sliding block, a lower connecting plate and a pin, the second middle branch chain is a parallelogram mechanism composed of a main connecting rod and two secondary connecting rods, and the steering wheel is composed of a steering wheel frame and a steering wheel body. The steering control mechanism of the electric wheelchair is accurate to control, stable in operation, compact in structure, and simple to operate.
Description
Technical field
This utility model belongs to people with disability's appurtenance, specifically is that a kind of electric wheelchair turns to controlling organization.
Technical background
According to incompletely statistics, be approximately 8,296 ten thousand people at all kinds of people with disability's sums of China in 2006, the ratio that accounts for country's total population is 6.34%.The old people of lower limb inconvenience and the disabled a large amount of existence in present society make that to improve its quality of life be that the instrument of the helping the disabled design of purpose becomes more and more important.Electric wheelchair is exactly the good aid that lower limb have obstacle personage trip, is to improve its freedom of action, makes them can be dissolved into necessaries in abled person's life better.Because the electric wheelchair space is limited, volume is little, and certain speed is arranged, and makes to turning to control to require in the wheelchair driving process very high.What have the employing of design steering mechanism now is the mode that deflecting roller servo-actuated, driving wheel differential drive; Or realize turning to control by the manpower rotary handle.Such design not only makes electric wheelchair turn on motility and ride comfort to have defective, and the disabled's that increase widely operation burden.When the travel speed of wheelchair is very fast, require higher to its motility that turns to and ride comfort.
The utility model content
At the prior art deficiency, the technical problem that this utility model quasi-solution is determined is, provides a kind of electric wheelchair to turn to controlling organization, and it is mild that this turns to controlling organization to have an action, good stability, control is accurate, compact conformation, simple to operate, easy to maintenance, advantage such as cheap for manufacturing cost.
The technical scheme that this utility model solve the technical problem is, designs a kind of electric wheelchair and turns to controlling organization, it is characterized in that this mechanism mainly comprises in the middle of frame, the steer-drive, first side chain and deflecting roller in the middle of the side chain, second; Steer-drive is fixed on the frame; The centre of side chain is hinged on the frame in the middle of first, and the one end is connected with steer-drive, and the other end is connected with side chain in the middle of second; Side chain is connected with deflecting roller in the middle of second, and deflecting roller is hinged on the frame;
Described steer-drive is made up of screw mandrel rear bearing, screw mandrel, screw mandrel fore bearing, shaft coupling, front-end bearing pedestal, band decelerator motor, screw and rear bearing block; Front-end bearing pedestal and rear bearing block are fixed on the frame, and two sections of screw mandrel front and back and front-end bearing pedestal, rear bearing block are connected by screw mandrel fore bearing and screw mandrel rear bearing; Band decelerator motor is fixed on the front-end bearing pedestal, and shaft coupling is connected with band decelerator motor shaft end, and its other end is connected with the screw mandrel leading portion, realizes that band decelerator Motor torque drives screw mandrel by shaft coupling and rotates; Screw and screw mandrel are by being threaded, and screw is connected with side chain in the middle of first again at two ends up and down simultaneously; When screw mandrel rotated, screw can be finished the displacement on the horizontal direction;
Described in the middle of first side chain comprise upper junction plate, slide block, lower connecting plate and pin, upper junction plate is fixed on the lower connecting plate, the slotted hole on the upper junction plate aligns with slotted hole on the lower connecting plate, connects with screw; Lower connecting plate is hinged by pin and frame, constitutes swing-bar mechanism; The groove of slide block and lower connecting plate one end is slidingly connected, and constitutes slide block guide rail mechanism; With screw slide block is hinged on the master link of side chain in the middle of second, the first middle side chain is connected with side chain in the middle of second; When screw upper edge screw mandrel displacement in the horizontal direction, screw up and down the boss at two ends on upper junction plate slotted hole and the slotted hole on the lower connecting plate in move;
Side chain is a master link and two parallel-crank mechanisms that secondary connecting rod is formed in the middle of described second; Described deflecting roller turns to wheel carrier and deflecting roller body to link together by turning to wheel carrier and deflecting roller body to form, and turns to the upper end of wheel carrier and secondary connecting rod to be fixed together.
Compared with prior art, this utility model turns to controlling organization to have following advantage: 1. precise control.Owing to, make the controlling organization action mild by the accurate control of motor and decelerator and feed screw nut's definite proportion transmission, to stablize, control is accurately.2. operate steadily.Left and right sides front-wheel is initiatively directive wheel, and is more steady when turning to.3. compact conformation is simple to operate, and is easy to maintenance, cheap for manufacturing cost.
Description of drawings
Fig. 1 is that this utility model electric wheelchair turns to structural representation under the craspedodrome state of a kind of embodiment of controlling organization;
Fig. 2 is the steer-drive structural representation that this utility model electric wheelchair turns to a kind of embodiment of controlling organization;
Fig. 3 is that this utility model electric wheelchair turns to the second middle side chain of a kind of embodiment of controlling organization and the structural representation of deflecting roller;
Fig. 4 is that this utility model electric wheelchair turns to structural representation under the right-hand bend state of a kind of embodiment of controlling organization;
Fig. 5 is that this utility model electric wheelchair turns to structural representation under the left-hand bend state of a kind of embodiment of controlling organization.
The specific embodiment
Further narrate this utility model below in conjunction with embodiment and accompanying drawing thereof.
The electric wheelchair of this utility model design turns to controlling organization (to be called for short controlling organization, referring to Fig. 1-5), the control section that turns to that is applicable to electric wheelchair uses, and it is characterized in that this controlling organization mainly comprises frame 1, steer-drive 2, first middle side chain 3, second middle side chain 4 and the deflecting roller 5.
The total arrangement of this utility model controlling organization is: described steer-drive 2 is fixed on the frame 1; Side chain 3 centre positions are hinged on the frame 1 in the middle of first, and the one end is connected with steer-drive 2, and the other end is connected with side chain 4 in the middle of second; Side chain 4 is connected with deflecting roller 5 in the middle of second, and deflecting roller 5 is hinged on (referring to Fig. 1) on the frame 1.
Described steer-drive 2 is formed (referring to Fig. 2) by screw mandrel rear bearing 21, screw mandrel 22, screw mandrel fore bearing 23, shaft coupling 24, front-end bearing pedestal 25, band decelerator motor 26, screw 27 and rear bearing block 28.Front-end bearing pedestal 25 and rear bearing block 28 are fixed on the frame 1, and two sections of screw mandrel 22 front and back and front-end bearing pedestal 25, rear bearing block 28 are connected by screw mandrel fore bearing 23 and screw mandrel rear bearing 21; Band decelerator motor 26 is fixed on the front-end bearing pedestal 25, and shaft coupling 24 is connected with band decelerator motor 26 axle heads, and its other end is connected with screw mandrel 22 leading portions, realizes that band decelerator motor 26 moments of torsion drive screw mandrel 22 by shaft coupling 24 and rotate; Screw 27 and screw mandrel 22 are by being threaded, and screw is connected with the first centre side chain 3 again at two ends 27 about simultaneously; When screw mandrel 22 rotated, screw 27 can be finished the displacement on the horizontal direction.
Described deflecting roller 5 is by turning to wheel carrier 51 and deflecting roller body 52 to form (referring to Fig. 3).Turn to wheel carrier 51 and deflecting roller body 52 to link together, deflecting roller body 52 can freely be rotated, turn to the upper end of wheel carrier 51 and secondary connecting rod 42 to be fixed together, can realize giving deflecting roller the transmission of torque on the secondary connecting rod 42.
This utility model controlling organization is the single-degree-of-freedom serial mechanism.Its 3 main motions are that the screw 27 in the steer-drive 2 moves along screw mandrel 22 directions; It is that rotate in the certain angle scope at the center with pin 34 that the first middle side chain 3 is subjected to the driving of screw 27; Side chain 4 is subjected to the driving double rocker mechanism of side chain 3 top shoe guide rail mechanisms in the middle of first in the middle of second.Provide one-way movement on the horizontal direction by being fixed on steer-drive 2 on the frame 1, drive with frame 1 hinged first in the middle of side chain 3 do around the swing of pin 34; Side chain 3 is connected with side chain 4 in the middle of second by slide block guide rail mechanism in the middle of first, again owing to side chain 4 in the middle of deflecting roller part 5 and second is connected, so the moment of torsion indirect transfer that side chain 3 swings provide in the middle of first realizes steadily turning to deflecting roller 5.The horizontal displacement that provided by steer-drive 2 can be provided in this mechanism, steadily, effectively for deflecting roller 5 provides moment of torsion, realizes it flexible, smooth-going is turned to control; Simultaneously, this utility model controlling organization adopts band decelerator motor 26 to drive, to external world environmental nonpollution.
This utility model turns to the operation principle of controlling organization and operating process as follows: suppose that electric wheelchair does linear uniform motion at first on level road, band decelerator motor 26 does not provide moment of torsion, screw 27 is in the centre position of screw mandrel 22, boss on the screw 27 mediates with respect to the slotted hole of the first middle side chain 3 simultaneously, and slide block 32 is positioned at the middle part of lower connecting plate 33 trough of belt slotted holes.When electric wheelchair is done at the uniform velocity right-hand bend motion on level road, band decelerator motor 26 provides the specific direction torque, screw 27 is done level displacement to the right, boss on the screw 27 moves upward with respect to the slotted hole of the first middle side chain 3 at this moment, and side chain 3 was done counterclockwise circular motion around pin 34 in the middle of screw 27 drove first; And at the trough of belt slotted hole end of lower connecting plate 33, slide block 32 moves downward with respect to the trough of belt slotted hole of lower connecting plate 33, and side chain 3 drives master links 41 to left in the middle of this moment first.Because side chain 4 and deflecting roller part 5 are connected in the middle of second, and side chain constitutes parallel-crank mechanism in the middle of second.Moving to left to knuckle section 5 provides to clockwise moment of torsion of master link 41 forces deflecting roller part 5 to turn right to finish and turns to (referring to Fig. 4).When electric wheelchair is done at the uniform velocity left-hand bend motion on level road, band decelerator motor 26 provides opposing torque, screw 27 is done level to left dislocation, boss on the screw 27 moves downward with respect to the slotted hole of the first middle side chain 3 at this moment, and side chain 3 was done clockwise circular motion around pin 34 in the middle of screw 27 drove first; And at the trough of belt slotted hole end of lower connecting plate 33, slide block 32 moves upward with respect to the trough of belt slotted hole of lower connecting plate 33, and side chain 3 drives master links 41 to right translation in the middle of this moment first.Moving to right to knuckle section 5 provides to counterclockwise moment of torsion of master link 41 forces deflecting roller part 5 to turn left to finish and turns to (referring to Fig. 5).
This utility model controlling organization adopts screw mandrel screw device, parallel-crank mechanism, fork linkage and slide block guide rail mechanism, realizes the control that turns to electric wheelchair.Stationarity by the assurance of band decelerator motor-driven screw mandrel screw device drives has swing link mechanism to realize the transmission of lateral displacement, the ride comfort that the direction of assurance displacement is transmitted.The lateral displacement that parallel-crank mechanism will have the swing link mechanism transmission directly acts on the deflecting roller control section, realizes the control to front-wheel steer.
The all operations of this utility model controlling organization, only need by to motor and decelerator rotating speed, turn to just can finish accurately and turn to the control of time, even under the relatively poor condition of road conditions condition, move, can guarantee that also deflecting roller can not swing at random.
Need to prove, the installation position speech of parts such as " upper and lower " described in the utility model, " forward and backward ", " left and right " is according to shown in the accompanying drawing, only having relative property, perhaps only is in order to narrate conveniently, not represent the uniqueness and the necessary property of this installation site.The enforcement of this utility model controlling organization can be done as required fully and nonessentially suitably adjust and change.
This utility model is not addressed part and is applicable to prior art.This utility model is not limited to above examples of implementation, and many distortion can also be arranged.All distortion that those of ordinary skill in the art can directly derive or associate from the disclosed content of this utility model all should be thought the protection domain of the application's claim.
Claims (1)
1. an electric wheelchair turns to controlling organization, it is characterized in that this mechanism mainly comprises frame, steer-drive, the first middle side chain, second middle side chain and the deflecting roller; Steer-drive is fixed on the frame; The centre of side chain is hinged on the frame in the middle of first, and the one end is connected with steer-drive, and the other end is connected with side chain in the middle of second; Side chain is connected with deflecting roller in the middle of second, and deflecting roller is hinged on the frame;
Described steer-drive is made up of screw mandrel rear bearing, screw mandrel, screw mandrel fore bearing, shaft coupling, front-end bearing pedestal, band decelerator motor, screw and rear bearing block; Front-end bearing pedestal and rear bearing block are fixed on the frame, and two sections of screw mandrel front and back and front-end bearing pedestal, rear bearing block are connected by screw mandrel fore bearing and screw mandrel rear bearing; Band decelerator motor is fixed on the front-end bearing pedestal, and shaft coupling is connected with band decelerator motor shaft end, and its other end is connected with the screw mandrel leading portion, realizes that band decelerator Motor torque drives screw mandrel by shaft coupling and rotates; Screw and screw mandrel are by being threaded, and screw is connected with side chain in the middle of first again at two ends up and down simultaneously; When screw mandrel rotated, screw can be finished the displacement on the horizontal direction;
Described in the middle of first side chain comprise upper junction plate, slide block, lower connecting plate and pin, upper junction plate is fixed on the lower connecting plate, the slotted hole on the upper junction plate aligns with slotted hole on the lower connecting plate, connects with screw; Lower connecting plate is hinged by pin and frame, constitutes swing-bar mechanism; The groove of slide block and lower connecting plate one end is slidingly connected, and constitutes slide block guide rail mechanism; With screw slide block is hinged on the master link of side chain in the middle of second, the first middle side chain is connected with side chain in the middle of second; When screw upper edge screw mandrel displacement in the horizontal direction, screw up and down the boss at two ends on upper junction plate slotted hole and the slotted hole on the lower connecting plate in move;
Side chain is a master link and two parallel-crank mechanisms that secondary connecting rod is formed in the middle of described second; Described deflecting roller turns to wheel carrier and deflecting roller body to link together by turning to wheel carrier and deflecting roller body to form, and turns to the upper end of wheel carrier and secondary connecting rod to be fixed together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320114009 CN203089608U (en) | 2013-03-12 | 2013-03-12 | Steering control mechanism of electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320114009 CN203089608U (en) | 2013-03-12 | 2013-03-12 | Steering control mechanism of electric wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203089608U true CN203089608U (en) | 2013-07-31 |
Family
ID=48841059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320114009 Withdrawn - After Issue CN203089608U (en) | 2013-03-12 | 2013-03-12 | Steering control mechanism of electric wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203089608U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110489A (en) * | 2013-03-12 | 2013-05-22 | 河北工业大学 | Electrically powered wheel chair steering control mechanism |
| CN103705353A (en) * | 2013-12-26 | 2014-04-09 | 哈尔滨工程大学科技园发展有限公司 | Electric rehabilitation wheelchair |
| CN105997381A (en) * | 2016-05-04 | 2016-10-12 | 许金华 | Wheelchair |
-
2013
- 2013-03-12 CN CN 201320114009 patent/CN203089608U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110489A (en) * | 2013-03-12 | 2013-05-22 | 河北工业大学 | Electrically powered wheel chair steering control mechanism |
| CN103110489B (en) * | 2013-03-12 | 2015-05-20 | 河北工业大学 | Electrically powered wheel chair steering control mechanism |
| CN103705353A (en) * | 2013-12-26 | 2014-04-09 | 哈尔滨工程大学科技园发展有限公司 | Electric rehabilitation wheelchair |
| CN105997381A (en) * | 2016-05-04 | 2016-10-12 | 许金华 | Wheelchair |
| CN105997381B (en) * | 2016-05-04 | 2017-09-05 | 许金华 | A kind of wheelchair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130731 Effective date of abandoning: 20150520 |
|
| RGAV | Abandon patent right to avoid regrant |