CN203915264U - A kind of wheelchair of automatically following - Google Patents
A kind of wheelchair of automatically following Download PDFInfo
- Publication number
- CN203915264U CN203915264U CN201420286799.0U CN201420286799U CN203915264U CN 203915264 U CN203915264 U CN 203915264U CN 201420286799 U CN201420286799 U CN 201420286799U CN 203915264 U CN203915264 U CN 203915264U
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- wheelchair
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- direct current
- current generator
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Abstract
A kind of wheelchair of automatically following of this utility model, belongs to wheelchair technical field, and the administrative staff that accompanies of this wheelchair does not need to carry any electronic equipment, and people's posture data are caught by laser radar completely, and simple in structure, adaptability is stronger; The height of laser radar can free adjustment, does not use while following function and can hide, easy to use and transportation; From Wheelchair structure, lifter rod lifting power is provided by motor, control step pitch comparatively accurate, and cost is lower; Rack-and-pinion power transmission structure, bearing capacity is large, and transmission accuracy is higher, can reach 0.1mm; Can indefinite length docking continue, meet lifter rod lifting requirement; Transmission speed can be very high, and response is fast; Slide rail and tooth bar fixed structure can guarantee elevating lever rigidity better, sliding-rail sliding structural limitations the left-right and front-back play of elevating lever, improve stability in the large.
Description
Technical field
This utility model belongs to wheelchair technical field, is specifically related to a kind of wheelchair of automatically following.
Background technology
Existing wheelchair has manually and electronic two kinds.The wheelchair that manual wheelchair relies on occupant oneself to drive or carried out by other people.From walking type manual wheelchair trailing wheel band hand-push loop, occupant drives voluntarily.Nursing type manual wheelchair trailing wheel is not with hand-push loop, need to be carried out by nursing staff.Electric wheelchair can by the sensing equipment controlling parties such as rocking bar to and speed.But when having entourage to accompany row, still need Artificial Control.
The development trend of wheelchair is intelligent, functional, comfortableness, operation ease.Automatically the wheelchair of following of the present utility model, can realize accompanying automatically following of administrative staff, and save manual control; When locking, follow and accompany after administrative staff's target, can not be subject to other pedestrians' interference around, guarantee continuously to follow the tracks of and accompany administrative staff; On the other hand, at medicine and hygiene fields, China's problem of an aging population highlights day by day, healthcare shortage.
At present, aspect Wheelchair structure, not yet have and can realize the structure that wheelchair is followed.
Summary of the invention
For the shortcoming of prior art, the utility model proposes a kind of wheelchair of automatically following, to reach, reduce costs, improve the object of accuracy and stability.
Automatically follow a wheelchair, comprise wheelchair, laser radar sensor, motor, gear, tooth bar, slide rail, the first slide block, the second slide block, bracing frame, control unit, control unit support, the first direct current generator, the first decelerator, the second direct current generator and the second decelerator; Wherein,
Described bracing frame is arranged at a side at the wheelchair back side, motor is fixedly installed on the outside of bracing frame, and its output shaft is connected with the gear of bracing frame inner side through the sidewall of bracing frame, described wheel and rack is connected with a joggle, the tooth bar back side is fixedly connected with the slide rail back side, described slide rail embeds in the groove of the first slide block and the second slide block, the first slide block is fixedly installed on the upper end of bracing frame, the second slide block is fixedly installed on the lower end of bracing frame, and laser radar sensor is fixedly installed on slide rail upper end;
Described gear rotates band carry-over bar and slide rail moves up and down;
The first described direct current generator is fixedly installed in wheel medial cradle of wheelchair, and the output shaft of the first direct current generator connects one end of the first decelerator, and the other end of the first decelerator connects the central shaft of above-mentioned wheel; The second direct current generator is fixedly installed in another wheel medial cradle of wheelchair, and the output shaft of the second direct current generator connects one end of the second decelerator, and the other end of the second decelerator connects the central shaft of above-mentioned wheel;
Described control unit is fixed on wheelchair seat lower end by control unit support, the input of control unit connects the outfan of laser radar sensor, the first outfan of control unit connects the input of motor, the second outfan of control unit connects the input of the first direct current generator, and the 3rd outfan of control unit connects the input of the second direct current generator.
Described control unit comprises single-chip microcomputer, H bridge circuit and stepper motor driving circuit, wherein, the first outfan of single-chip microcomputer connects the input of H bridge circuit, the first outfan of H bridge circuit connects the input of the first direct current generator, the second outfan of H bridge circuit connects the input of the second direct current generator, the second outfan of single-chip microcomputer connects the input of stepper motor driving circuit, and the outfan of stepper motor driving circuit connects the input of motor.
The height of described laser radar sensor is with to be followed personnel's shoulder height identical.
This utility model advantage:
A kind of wheelchair of automatically following of this utility model, the administrative staff that accompanies of this wheelchair does not need to carry any electronic equipment, and people's posture data are caught by laser radar completely, and simple in structure, adaptability is stronger; The height of laser radar can free adjustment, does not use while following function and can hide, easy to use and transportation; From Wheelchair structure, lifter rod lifting power is provided by motor, control step pitch comparatively accurate, and cost is lower; Rack-and-pinion power transmission structure, bearing capacity is large, and transmission accuracy is higher, can reach 0.1mm; Can indefinite length docking continue, meet lifter rod lifting requirement; Transmission speed can be very high, and response is fast; Slide rail and tooth bar fixed structure can guarantee elevating lever rigidity better, sliding-rail sliding structural limitations the left-right and front-back play of elevating lever, improve stability in the large.
Accompanying drawing explanation
Fig. 1 be a kind of embodiment of this utility model automatically follow wheelchair right view;
Fig. 2 be a kind of embodiment of this utility model automatically follow in wheelchair right view A to view enlarged drawing;
Fig. 3 be a kind of embodiment of this utility model automatically follow wheelchair front view;
Fig. 4 be a kind of embodiment of this utility model automatically follow B regional enlarged drawing in wheelchair right view;
Fig. 5 is the control unit single chip circuit schematic diagram of a kind of embodiment of this utility model;
Fig. 6 is the H bridge circuit schematic diagram of a kind of embodiment of this utility model;
Fig. 7 is the stepper motor driving circuit schematic diagram of a kind of embodiment of this utility model.
The specific embodiment
Below in conjunction with accompanying drawing, a kind of embodiment of this utility model is described further.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, automatically follow wheelchair and comprise wheelchair (comprising wheelchair body 1 and wheel 2), laser radar sensor 4, motor 10, gear 9, tooth bar 8, slide rail 5, the first slide block 6, the second slide block (be blocked in figure, mark), bracing frame 7, control unit 11, control unit support 12, the first direct current generator 3, the first decelerator 13, the second direct current generator 14 and the second decelerator 15.
In the present embodiment, drive the first direct current generator 3 and second direct current generator 14 models of wheelchair wheel to be Z55D250-24, the model of the first decelerator 13 and the second decelerator 15 is 5GU50K (B); Driving motor 10 models of elevating lever (tooth bar 8 and slide rail 5) is 42BYGH47-401A, and laser radar model is URG-04LX-UG01.
As shown in Figure 2, bracing frame 7 is arranged at a side at wheelchair body 1 back side, motor 10 is fixedly installed on the outside of bracing frame 7, and its output shaft is connected with the gear 9 of bracing frame 7 inner sides through the sidewall of bracing frame 7, described gear 9 is connected with a joggle with tooth bar 8, tooth bar 8 back sides are fixedly connected with slide rail 5 back sides, described slide rail 5 embeds in the groove of the first slide block 6 and the second slide block, as shown in Figure 4, the first slide block 6 is fixedly installed on the upper end a of bracing frame 7, the second slide block is fixedly installed on the lower end b of bracing frame 7, laser radar sensor 4 is fixedly installed on slide rail 5 upper ends.
In the present embodiment, frame for movement is to build on common wheelchair basis, and bracing frame 7 is welded and fixed with the metallic plate of wheelchair back.Motor 10 is fixing by screw and bracing frame 7.The first slide block 6 and the second slide block are fixed by screw and bracing frame.Motor 10 is by flat key driven gear 9, and gear 9 meshes with tooth bar 8.Tooth bar 8 welds together with slide rail 5, forms elevating lever.Laser radar sensor 4 is fixed by bolt and elevating lever top.Moving up and down of the groove fixed rack of slide block, realizes the elevating function in laser radar sensor 4 level heights.
As shown in Figure 3, it is upper that the first direct current generator 3 is fixedly installed on wheelchair wheel 2 medial cradle (wheelchair body 1), and the output shaft of the first direct current generator 3 connects one end of the first decelerator 13, and the other end of the first decelerator 13 connects the central shaft of above-mentioned wheel 2; It is upper that the second direct current generator 14 is fixedly installed on wheelchair wheel 16 medial cradle (wheelchair body 1), and the output shaft of the second direct current generator 14 connects one end of the second decelerator 15, and the other end of the second decelerator 15 connects the central shaft of wheel 16;
As shown in Figure 1, in the present embodiment, control unit 11 is fixed on wheelchair body 1 seat lower end by control unit support 12, the input P3.0 of control unit 11 connects the outfan of laser radar sensor 4, the first outfan of control unit 11 connects the input of motor 10, the second outfan of control unit 11 connects the input of the first direct current generator 3, and the 3rd outfan of control unit 11 connects the input of the second direct current generator 14.
In the present embodiment, control unit 11 comprises single-chip microcomputer, H bridge circuit and stepper motor driving circuit, and in the present embodiment, as shown in Figure 5, singlechip chip model is 89C51, to the 24V DC source of motor power supply; As shown in Figure 6, adopt the speed governing of high-power H bridge circuit PWM; As shown in Figure 7, stepper motor driving circuit employing chip is L298 model; Wherein, as shown in Figure 5, the outfan PWM1 of single-chip microcomputer～PWM4 connects the input PWM1～PWM4 of H bridge circuit, as shown in Figure 6, the outfan MOTOR2 of H bridge circuit connects the input of the first direct current generator 3, the outfan MOTOR3 of H bridge circuit connects the input of the second direct current generator, as shown in Figure 5, outfan P1.0, the P1.1 of single-chip microcomputer, P1.2, P1.3 connect input P1.0, P1.1, P1.2, the P1.3 of drive circuit, as shown in Figure 7, the outfan MOTOR1 of drive circuit connects the input of motor 10.
In the present embodiment, when startup is followed, gear drive motor by driven gear rotate, tooth bar translation, guarantee laser radar and accompany passerby's shoulder concordant.
Claims (3)
1. automatically follow wheelchair for one kind, it is characterized in that, comprise wheelchair, laser radar sensor, motor, gear, tooth bar, slide rail, the first slide block, the second slide block, bracing frame, control unit, control unit support, the first direct current generator, the first decelerator, the second direct current generator and the second decelerator; Wherein,
Described bracing frame is arranged at a side at the wheelchair back side, motor is fixedly installed on the outside of bracing frame, and its output shaft is connected with the gear of bracing frame inner side through the sidewall of bracing frame, described wheel and rack is connected with a joggle, the tooth bar back side is fixedly connected with the slide rail back side, described slide rail embeds in the groove of the first slide block and the second slide block, the first slide block is fixedly installed on the upper end of bracing frame, the second slide block is fixedly installed on the lower end of bracing frame, and laser radar sensor is fixedly installed on slide rail upper end;
Described gear rotates band carry-over bar and slide rail moves up and down;
The first described direct current generator is fixedly installed on wheel inner side of wheelchair, and the output shaft of the first direct current generator connects one end of the first decelerator, and the other end of the first decelerator connects the central shaft of above-mentioned wheel; The second direct current generator is fixedly installed on another wheel inner side of wheelchair, and the output shaft of the second direct current generator connects one end of the second decelerator, and the other end of the second decelerator connects the central shaft of above-mentioned wheel;
Described control unit is fixed on wheelchair seat lower end by control unit support, the input of control unit connects the outfan of laser radar sensor, the first outfan of control unit connects the input of motor, the second outfan of control unit connects the input of the first direct current generator, and the 3rd outfan of control unit connects the input of the second direct current generator.
2. the wheelchair of automatically following according to claim 1, it is characterized in that, described control unit comprises single-chip microcomputer, H bridge circuit and stepper motor driving circuit, wherein, the first outfan of single-chip microcomputer connects the input of H bridge circuit, the first outfan of H bridge circuit connects the input of the first direct current generator, the second outfan of H bridge circuit connects the input of the second direct current generator, the second outfan of single-chip microcomputer connects the input of stepper motor driving circuit, and the outfan of stepper motor driving circuit connects the input of motor.
3. the wheelchair of automatically following according to claim 1, is characterized in that, the height of described laser radar sensor is with to be followed personnel's shoulder height identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420286799.0U CN203915264U (en) | 2014-05-29 | 2014-05-29 | A kind of wheelchair of automatically following |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420286799.0U CN203915264U (en) | 2014-05-29 | 2014-05-29 | A kind of wheelchair of automatically following |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203915264U true CN203915264U (en) | 2014-11-05 |
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ID=51811154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420286799.0U Expired - Fee Related CN203915264U (en) | 2014-05-29 | 2014-05-29 | A kind of wheelchair of automatically following |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203915264U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106923542A (en) * | 2017-03-10 | 2017-07-07 | 深圳市赛亿科技开发有限公司 | Intelligent chair |
| CN109270963A (en) * | 2018-09-29 | 2019-01-25 | 武汉理工大学 | A kind of wheelchair automatic following system and method based on reflective fabric and laser radar |
| CN110338993A (en) * | 2019-07-12 | 2019-10-18 | 扬州大学 | A kind of method that electric wheelchair and electric wheelchair follow personnel automatically |
| CN112426289A (en) * | 2020-10-28 | 2021-03-02 | 北京工业大学 | Intelligent wheelchair for helping old people and disabled people |
| CN112472481A (en) * | 2020-12-15 | 2021-03-12 | 沈阳工业大学 | Dynamic human body pose recognition embedded platform under trunk shielding state |
-
2014
- 2014-05-29 CN CN201420286799.0U patent/CN203915264U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106923542A (en) * | 2017-03-10 | 2017-07-07 | 深圳市赛亿科技开发有限公司 | Intelligent chair |
| CN109270963A (en) * | 2018-09-29 | 2019-01-25 | 武汉理工大学 | A kind of wheelchair automatic following system and method based on reflective fabric and laser radar |
| CN110338993A (en) * | 2019-07-12 | 2019-10-18 | 扬州大学 | A kind of method that electric wheelchair and electric wheelchair follow personnel automatically |
| CN112426289A (en) * | 2020-10-28 | 2021-03-02 | 北京工业大学 | Intelligent wheelchair for helping old people and disabled people |
| CN112426289B (en) * | 2020-10-28 | 2023-05-12 | 北京工业大学 | Intelligent wheelchair for helping old people and disabled people |
| CN112472481A (en) * | 2020-12-15 | 2021-03-12 | 沈阳工业大学 | Dynamic human body pose recognition embedded platform under trunk shielding state |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141105 Termination date: 20150529 |
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| EXPY | Termination of patent right or utility model |