CN204306992U - Intelligent sound identification invalid wheelchair device - Google Patents
Intelligent sound identification invalid wheelchair device Download PDFInfo
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- CN204306992U CN204306992U CN201420784827.1U CN201420784827U CN204306992U CN 204306992 U CN204306992 U CN 204306992U CN 201420784827 U CN201420784827 U CN 201420784827U CN 204306992 U CN204306992 U CN 204306992U
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Abstract
Intelligent sound identification invalid wheelchair device, its objective is by voice command realize the transport condition of wheelchair device is accurately controlled, comprise 1: mechanical part.2: circuit control part.Wheelchair has two kinds of control models: (1) Voice command pattern, (2) MANUAL CONTROL mode.Have following function: (1) is directly walked, (2) move backward, and (3) turn left, and (4) turn right.When wheelchair runs into certain slope road surface time, tilting prevention device 18 prevents tumbling of wheelchair.Direct Received signal strength on the head utilizing bluetooth Mic (A3) to be worn over patient in speech control system, and send Bluetooth Receiver (A4) to.Acoustical signal is passed to voice recognition chip LD3320 by Bluetooth Receiver.
Description
Technical field
This utility model relates to the special wheelchair of disability patient.
Background technology
Due to the development and progress of modern medicine, the average life of the mankind improves just step by step, causes various countries' aging population constantly to increase; But the structure of society of aging becomes the significant challenge of countries in the world already, for these older and action inconvenient user, its body parts organ is degenerated just gradually, add neural muscular atrophy, drive wheelchair to be very difficult thing voluntarily, adopt the electric wheelchair of acoustic control then can effectively address these problems.The final goal of scientific development serves people, and voice controlled wheelchair embodies this point well.Along with the development of microelectric technique, present sound control technique is widely used, nearest voice technology can identify the sound of more than 93%, this technology brings Gospel to people with disability, disability patient can remove with the sound of oneself wheelchair that draws oneself up, can the folding of control gate, just can control an automobile even afterwards, drive towards the place oneself wanted.When accident appears in automobile, driver can use Sound control automobile, thus escapes danger, but has very large noise among real environment, so the technical requirement of filter out noise is very high.
Summary of the invention
The purpose of this utility model realizes accurately controlling the transport condition of wheelchair system by voice command.
This utility model is intelligent sound identification invalid wheelchair device, be made up of mechanical part and circuit control part, mechanical part comprises actuating unit, supporting mechanism, drive mechanism, be made up of seat support structure, pedal supporting construction, front and back train supporting construction at supporting mechanism, seat support structure is by main backstop 17, chassis 25 and four support bars 17, support bar 17 is placed the Chain cushion 5 taken for patient, for the first backrest 1 of pillow head, for second backrest 2 at pillow back; Pedal supporting construction by pedal bracing frame 9, pedal fixed mount 7, pedal bracket fixation clamp 8 forms; In front and back wheel system support structure, front wheel system has bracing frame 13, has trailing wheel 16, locking cap 19, trailing wheel inner sleeve 49 in trailing wheel, first deboost axle 28 of playing a supporting role; Rear-wheel hub there are the inner tube of a tyre 45, cover tire 46; In anti-down wheel mechanism: anti-down support bar 31 of taking turns connects one and anti-downly takes turns 33, and anti-down support bar 31 of taking turns takes turns adpting flange 30 by anti-down; In actuating unit, the moment of torsion that motor exports outputs to the first reduction gearing 38 through the first enclosed planetary reduction gear 51, drive the second reduction gearing 36, wherein the second reduction gearing 36 is connected by key with the second deboost axle 37, output shaft freely-supported is on two bearing spiders 26, second deboost axle 37 is support and the power transmission shaft of trailing wheel 16, the moment of torsion of the second deboost axle 37 can be delivered to the trailing wheel locking cap 21 on trailing wheel 16 in addition; Also be provided with and keep by the first motor 27 the first motor 27 that definite value speed is moved, the second motor 27 ' underdrive realizes left-hand rotation, be fitted through again the first motor 27 underdrive in addition, the second motor 27 ' maintenance definite value speed moves the second motor 27 ' realizing turning right.
The structure of circuit control part is: control system command information A2 is collected by bluetooth Mic A3 and is transferred to receptor A4, receptor A4 by Signal transmissions to voice recognition chip A5, voice recognition chip A5 identifies voice messaging, recognition result is sent to acoustic control Chip Microcomputer A 6, signal is processed, export after becoming specific different pin low and high level, these signals send main control chip A1 to, main control chip A1 is according to different signals, to the first driver A7, second driver B7 sends action directive, first drives A7 to be divided into the first primary input a, first main output b, first control signal input c, first primary input a is connected with DC24V power supply A12, first main output b is connected with the first motor module A8, first control signal input c is connected with master chip A1, according to the first control signal input c, the DC24V power supply of the first primary input a is become the first main PWM ripple exporting b and export to the first motor module A8, control the rotating speed of the first motor module A8, second drives B7 to be divided into the second primary input a ', the second main output b ', the second control signal input c ', second primary input a ' is connected with DC24V power supply A12, second main output b ' is connected with the first motor module A8, and the second control signal input c ' is connected with master chip A1, according to the second control signal input c ', the DC24V power supply of the second primary input a ' is become the first main PWM ripple exporting b and export to the second motor module B8, thus control the rotating speed of the second motor module B8, the barrier of different directions can be detected by the photoelectric sensors A 11 at three positions, left, center, right, information is sent to main control chip A1, main control chip A1 sends parking order, carries out electric braking and dynamic braking, can restart when barrier leaves time and move forward.
Mechanism in this utility model is simple and reliable, and security of system is strong, easy to operate, can be widely used in the field such as paralytic or group of handicapped.Be applicable to having the family of old people and paralytic to use, also can to hospital, nursing house, etc. place large-scale promotion.
Accompanying drawing explanation
Fig. 1 is overall schematic of the present utility model, Fig. 2 is that this utility model removes the later top view of seat portion, Fig. 3 of the present utility modelly anti-downly takes turns schematic diagram, Fig. 4 is rear wheel gear transmission schematic diagram of the present utility model, Fig. 5 is this utility model pedal part scheme of installation, Fig. 6 is this utility model rear-wheel structure figure, Fig. 7 is that this utility model motor is connected with decelerator and fixes schematic diagram, Fig. 8 is the installation diagram of the second motor 27 ', Fig. 9 is chassis structure figure front view, Figure 10 is chassis structure figure side view, Figure 11 is control system figure, Figure 12 is control circuit layout drawing, Figure 13 is the second driving schematic diagram, Figure 14 is the first driving schematic diagram.
Reference numeral and corresponding name are called: the first backrest 1, second backrest 2, handrail 3, medicated cushion 5, crus secunda pedal support fixation clamp 4, fixation clamp bolt 6, pedal fixed mount 7, first pedal bracket fixation clamp, pedal bracing frame 9, fixed supporting leg 10, pedal 11, front-wheel 12, front-wheel support 13, front-wheel fixedly emits 14, battery 15, trailing wheel 16, main backstop 17, tilting prevention device 18, trailing wheel locking emits 19, reducing gear 20, trailing wheel locking cap 21, the left back cushion 22 of stretcher cleat, the right back cushion 23 of stretcher cleat, circuit arrangement box 24, chassis 25, bearing block 26, first motor 27, second motor 27 ', first deboost axle 28, first electric machine support 29, second electric machine support 29 ', anti-downly take turns adpting flange 30, anti-downly take turns support bar 31, anti-downly take turns crotch 32, anti-downly take turns 33, wheel shaft 34, locking nut 35, second reduction gearing 36, second deboost axle 37, first reduction gearing 38, bearing block hold-down nut 39, clamping screw 40, pedal back cushion is locked bolt 41, pedal back cushion is locked nut 42, pedal back cushion is locked folder 43, pedal locking nut 44, the inner tube of a tyre 45, cover tire 46, rim 47, spoke 48, inner sleeve 49, second bolt 50, 4th bolt 50 ', first enclosed planetary reduction gear 51, second enclosed planetary reduction gear 51 ', first bolt 52, 3rd bolt 52 ', first encoder 53, second encoder 53 ', motor rack installing hole 54, 55, bearing bracket stand installing hole 56, 57, 58, 59, 60, 61, 62, 63, electric machine support installing hole 64, 65, 66, 67, circuit box support plate 68, front universal wheel Method for Installation flange aperture 69, circuit box support 70, main control chip A1, command information A2, bluetooth Mic A3, Bluetooth Receiver A4, voice recognition chip LD3320 A5, acoustic control Chip Microcomputer A 6, left driving-the first driver A7, right driving-the second driver B7, first motor module A8, second motor module B8, left encoder A9, right encoder B9, speaker A10, photoelectric sensors A 11, power supply A12, first control signal input c, first primary input a, first main output b, second primary input a ', second main output b ', second control signal input c '.
Detailed description of the invention
As shown in Fig. 1 ~ 14, this utility model is intelligent sound identification invalid wheelchair system, be made up of mechanical part and circuit control part, mechanical part comprises actuating unit, supporting mechanism, drive mechanism, be made up of seat support structure, pedal supporting construction, front and back train supporting construction at supporting mechanism, seat support structure is by main backstop 17, chassis 25 and four support bars 17, support bar 17 is placed the Chain cushion 5 taken for patient, for the first backrest 1 of pillow head, for second backrest 2 at pillow back; Pedal supporting construction by pedal bracing frame 9, pedal fixed mount 7, pedal bracket fixation clamp 8 forms; In front and back wheel system support structure, front wheel system has bracing frame 13, has trailing wheel 16, locking cap 19, trailing wheel inner sleeve 49 in trailing wheel, first deboost axle 28 of playing a supporting role; Rear-wheel hub there are the inner tube of a tyre 45, cover tire 46; In anti-down wheel mechanism: anti-down support bar 31 of taking turns connects one and anti-downly takes turns 33, and anti-down support bar 31 of taking turns takes turns adpting flange 30 by anti-down; In actuating unit, the moment of torsion that motor exports outputs to the first reduction gearing 38 through the first enclosed planetary reduction gear 51, drive the second reduction gearing 36, wherein the second reduction gearing 36 is connected by key with the second deboost axle 37, output shaft freely-supported is on two bearing spiders 26, second deboost axle 37 is support and the power transmission shaft of trailing wheel 16, the moment of torsion of the second deboost axle 37 can be delivered to the trailing wheel locking cap 21 on trailing wheel 16 in addition; Also be provided with and keep by the first motor 27 the first motor 27 that definite value speed is moved, the second motor 27 ' underdrive realizes left-hand rotation, be fitted through again the first motor 27 underdrive in addition, the second motor 27 ' maintenance definite value speed moves the second motor 27 ' realizing turning right.
The structure of circuit control part is: control system command information A2 is collected by bluetooth Mic A3 and is transferred to receptor A4, receptor A4 by Signal transmissions to voice recognition chip A5, voice recognition chip A5 identifies voice messaging, recognition result is sent to acoustic control Chip Microcomputer A 6, signal is processed, export after becoming specific different pin low and high level, these signals send main control chip A1 to, main control chip A1 is according to different signals, to the first driver A7, second driver B7 sends action directive, first drives A7 to be divided into the first primary input a, first main output b, first control signal input c, first primary input a is connected with DC24V power supply A12, first main output b is connected with the first motor module A8, first control signal input c is connected with master chip A1, according to the first control signal input c, the DC24V power supply of the first primary input a is become the first main PWM ripple exporting b and export to the first motor module A8, control the rotating speed of the first motor module A8, second drives B7 to be divided into the second primary input a ', the second main output b ', the second control signal input c ', second primary input a ' is connected with DC24V power supply A12, second main output b ' is connected with the first motor module A8, and the second control signal input c ' is connected with master chip A1, according to the second control signal input c ', the DC24V power supply of the second primary input a ' is become the first main PWM ripple exporting b and export to the second motor module B8, thus control the rotating speed of the second motor module B8, the barrier of different directions can be detected by the photoelectric sensors A 11 at three positions, left, center, right, information is sent to main control chip A1, main control chip A1 sends parking order, carries out electric braking and dynamic braking, can restart when barrier leaves time and move forward.
As shown in Figure 1 and Figure 2, main backstop 17 is tetragonal, comprises chassis 25 and four support bars, support bar places seat; Pedal fixed mount 7 is connected by pedal bracket fixation clamp 8 with straight-bar, and by frictional force fixing compact, pedal bracket fixation clamp 8 can be regulated relative to the position of seat; Pedal bracing frame 9 is regular length, and pedal fixed mount 7 remains unchanged relative to the position of seat plane.
As shown in Figure 1, Figure 2, Figure 6 shows, front-wheel adopts universal wheel form, and bracing frame 13 becomes-15 ° of angles relative to vertical direction, can guarantor to stability; Trailing wheel 16 adopts form of spokes to support; Locked by trailing wheel locking cap 16, and moment is passed to trailing wheel inner sleeve 49 from the first deboost axle 28; Rear tire tube 45 adopts non-inflatable tyre.
As shown in Figure 2 and Figure 3, anti-down support bar 31 of taking turns is for nearly right-angle structure, and connection one is anti-down above takes turns 33; Anti-down support bar 31 of taking turns is fixed on rear side of the middle part on chassis 25 by anti-down adpting flange 30 of taking turns.
As shown in Fig. 4, Fig. 7, the second reduction gearing 36 output shaft of the first enclosed planetary reduction gear 51 being connected to first reduction gearing 38, first reduction gearing 38 and parallel axes engages; Second reduction gearing 36 is connected with the first deboost axle 28 by flat key.
As shown in Fig. 2, Fig. 7, being provided with below of the first motor 27 be coaxial with it, be connected to the first enclosed planetary reduction gear 51 for the leading portion of the first encoder 53, first motor 27 detecting the rotating speed of motor shaft, and both are locked by the first bolt 52; First enclosed planetary reduction gear 51 by the second bolt 50 and matching nut bolt on the flange face of the first electric machine support 29.
As shown in Fig. 2, Fig. 8, being provided with below of the second motor 27 ' be coaxial with it, be connected to the second enclosed planetary reduction gear 51 ' for the leading portion of the second encoder 53 ', the second motor 27 ' detecting the rotating speed of motor shaft, and both are locked by the 3rd bolt 52 '; Second enclosed planetary reduction gear 51 ' by the 4th bolt 50 ' and matching nut bolt on the flange face of the second electric machine support 29 '.
This utility model comprises mechanical part and circuit control part, and mechanical part serves the effect of support, considers the demands such as such wheelchair must can advance, falls back, stops and turning to flexibly, respectively fills a motor drive respectively at left and right two-wheeled.When revolver motor rotating speed is turned right higher than wheelchair during right turbin generator rotating speed, otherwise then turn left.The cooperation of left and right wheels two motor speeds just can realize wheelchair advance, fall back, the function such as turning.Intelligent sound identification invalid wheelchair system is four wheel constructions, and wherein two wheels are the universal wheel led above, by its guiding direction of advance, therefore is referred to as directive wheel; Two wheels are below driving wheel.
The mode of mechanical movement is as follows: (1) is directly walked: under naturalness, and while gravity and mechanism under effect, always wheel is above along straight direction, as long as at this moment rear-wheel motor rotates forward and keeps identical rotating speed simultaneously, it will along straight ahead.(2) move backward: reverse action and forward motion just the opposite, rear-wheel motor all reverses, and wheelchair will move backward.(3) turn left: revolver motor reverses, rear-wheel motor rotates forward, and at this moment dolly will advance towards left side under left and right wheels combined effect.(4) turn right: revolver motor rotates forward, rear-wheel motor reverses, and at this moment dolly will advance towards right side under left and right wheels combined effect.
Circuit control part is core of the present utility model: as shown in figure 12,1, Voice command pattern: the control instruction of (1) people sends (left-hand rotation 90, right-hand rotation 90, advance etc.), passes through two Mic noise reduction system process and sends to Ld3320 voice recognition chip; (2) sound instruction is identified, find interrupt vector number, enter interruption subroutine, export low and high level to panel by voice module, panel accepts the state according to I/O mouth after low and high level, judges that what will perform orders and send to master control borad by the coding schedule made by oneself in advance; (3) according to the difference of low and high level, master control borad sends different action directives after judging; (4) instruction is amplified through driver, is transported to servomotor, and motor rotates according to driving instruction; (5) actual value of rotation is fed back to master control borad by the encoder of motor output shaft, and master control borad carries out finely tuning rear output according to feedback quantity, forms semi-closed loop system; (6) when infrared sensor detect in the certain distance of front have obstacle time, master control borad send brake instruction realize slow down until stop.2, MANUAL CONTROL mode: now control wheelchair primarily of joystick panel; The barrier situation on front, left side and right side can be converted into low and high level by three photoswitches being simultaneously placed in wheelchair front end, according to I/O mouth state, panel judges whether the advance route of wheelchair has barrier, if there is obstacle, shield the input instruction of control crank, automatic stopping, realizes the automatic obstacle-avoiding of wheelchair.
As shown in Fig. 1,2,4: the dynamic mechanism of mechanism of mechanical part of the present utility model, supporting mechanism, drive mechanism.During use, patient is sitting on medicated cushion 5, and head can lean against on the first backrest 1, and back leans against on the second backrest 2.When wheelchair is in a certain duty, first motor 27, second motor 27 ' rotates simultaneously, through decelerator 51, output to the first reduction gearing 38, drive the second reduction gearing 36, wherein the second reduction gearing 36 is connected by key with the second deboost axle 37, output shaft freely-supported is on two bearing spiders 26, and the second deboost axle 37 is support and the power transmission shaft of trailing wheel 16, and the moment of torsion of the second deboost axle 37 passes on trailing wheel 16 by trailing wheel locking cap 21, rear wheel, can promote wheel chair sport.During left-hand rotation, the first motor 27 keeps certain value speed to move, the second motor 27 ' underdrive, can realize, and does antithesis motion during right-hand rotation.
As shown in Figure 3 when wheelchair runs into the road surface with certain slope, front-wheel 12 raises, car load has a certain degree, at this time be easy to produce tumbling of wheelchair, so just need tilting prevention device 18, tilting prevention device 18 is connected on domain by adpting flange 30, anti-down support bar 31 of taking turns connects and anti-downly takes turns crotch 32, wheel shaft 34 is housed above, supports and anti-downly take turns 33, and locked by locking nut 35.When car is tumbled, anti-downly take turns 33 and land and prevent tumbling of wheelchair.
As shown in Figure 5, (for the left side) whole pedal part, by pedal bracket fixation clamp 5, is fixed on support bar 17, and lock by clamping screw 40, and application frictional force principle prevents downslide.Pedal fixed mount 7 by 9 to its support and and seat shape have a certain degree.Stretcher cleat back cushion 22 is fixed on support bar 17 by pedal back cushion folder 43, the pedal back cushion bolt 41 that is locked that is locked, and is locked by the pedal back cushion nut 42 that is locked.Certain angle can be regulated, be applicable to the support of people's leg.Pedal 11 to be through on support bar 17 and to be locked by pedal locking nut 44.
As shown in Figure 6, in trailing wheel 16, rim 47 there are the sealing inner tube of a tyre 45, cover tire 46.Rim is fixed in inner sleeve 49 by spoke 48, and wherein spoke can also play the effect of damping.There is bearing ball in inner sleeve 49, be supported on deboost axle 28.And by the woodruff key structure in trailing wheel locking cap 19 and deboost axle 28 keyed jointing, moment of torsion is passed to inner sleeve 49, trailing wheel just can rotate.
As shown in Fig. 9,10: domain 25 has bearing bracket stand installing hole 56,57,58,59,60,61,62,63 etc. be used for installation shaft bearing.64,65 be used for fixing the left electric machine support of right motor, 66,67 are used for installing left electric machine support, and circuit box support plate 68 is used for fixing circuit arrangement box 24.Circuit box support 70 support circuit box support plate 68.Front universal wheel Method for Installation flange aperture 69, is bolted front wheel supporting cap 14, supports front-wheel 12.
As shown in figure 11: command information A2 is right to be collected by bluetooth MicA3 and is transferred to receptor A4, receptor by Signal transmissions to voice recognition chip LD3320 A5, voice recognition chip LD3320 A5 identifies voice messaging, recognition result is sent to acoustic control Chip Microcomputer A 6, signal is processed, becomes the output of specific different pin level height.These signals send main control chip A1 to, main control chip A1 is according to different signals, in order to the rotating speed of wheel can be controlled, take PWM speed regulation method, namely export the fixing square wave of a series of frequency by I/OB8, I/OB9 of single-chip microcomputer, then carry out drive motors by power amplification, in single-chip microcomputer, programming changes the dutycycle exporting square wave and just can change the average voltage be added on motor, thus the rotating speed of motor can be changed, also can control the angle of wheel turns simultaneously.The cooperation of left and right wheels two motor speeds just can realize wheelchair advance, fall back, the function such as turning.The actual output speed of motor is fed back to main control chip A1 by encoder B9, forms semi-closed loop system.Photoelectric sensors A 11 identifies the obstacle in front, and complaint message is passed to main control chip A1, and A1 will send order of stopping in emergency.Power supply A12 provides electric energy for whole control circuit.
Realize the rotational angle of wheelchair and the control of travel speed, automatically obstacle can be avoided in time, can in case of emergency automatic stopping, this control mode both can be assisted as the one of manual overvide temporarily, also can be used as main control mode.In addition, when not using acoustic control, native system is manual electric wheelchair system.
Claims (7)
1. intelligent sound identification invalid wheelchair device, be made up of mechanical part and circuit control part, mechanical part comprises actuating unit, supporting mechanism, drive mechanism, it is characterized in that being made up of seat support structure, pedal supporting construction, front and back train supporting construction at supporting mechanism, seat support structure is by main backstop (17), chassis (25) and four support bars (17), support bar (17) is upper places the Chain cushion (5) taken for patient, for first backrest (1) of pillow head, for second backrest (2) at pillow back; Pedal supporting construction by pedal bracing frame (9), pedal fixed mount (7), pedal bracket fixation clamp (8) form; In front and back wheel system support structure, front wheel system has bracing frame (13), has trailing wheel (16), locking cap (19), trailing wheel inner sleeve (49) in trailing wheel, first deboost axle (28) of playing a supporting role; Rear-wheel hub there are the inner tube of a tyre (45), cover tire (46); In anti-down wheel mechanism: anti-down support bar (31) of taking turns connects one and anti-downly to take turns (33), and anti-down support bar (31) of taking turns takes turns adpting flange (30) by anti-down; In actuating unit, the moment of torsion that motor exports outputs to the first reduction gearing (38) through the first enclosed planetary reduction gear (51), drive the second reduction gearing (36), wherein the second reduction gearing (36) is connected by key with the second deboost axle (37), output shaft freely-supported is on two bearing spiders (26), second deboost axle (37) is support and the power transmission shaft of trailing wheel (16), the moment of torsion of the second deboost axle (37) can be delivered to the trailing wheel locking cap (21) on trailing wheel (16) in addition; The first motor (27) by the first motor (27) keeps the motion of definite value speed, the second motor (27 ') underdrive realizes left-hand rotation is also installed, is fitted through again the first motor (27) underdrive in addition, the second motor (27 ') maintenance definite value speed moves the second motor (27 ') realizing turning right;
The structure of circuit control part is: control system command information (A2) is by bluetooth Mic(A3) collect and be transferred to receptor (A4), receptor (A4) by Signal transmissions to voice recognition chip (A5), voice recognition chip (A5) identifies voice messaging, recognition result is sent to acoustic control single-chip microcomputer (A6), signal is processed, export after becoming specific different pin low and high level, these signals send main control chip (A1) to, main control chip (A1) is according to different signals, to the first driver (A7), second driver (B7) sends action directive, first drives (A7) to be divided into the first primary input (a), first main output (b), first control signal input (c), first primary input (a) is connected with DC24V power supply (A12), first main output (b) is connected with the first motor module (A8), first control signal input (c) is connected with master chip (A1), the PWM ripple according to the first control signal input (c) the DC24V power supply of the first primary input (a) being become the first main output (b) exports to the first motor module (A8), controls the rotating speed of the first motor module (A8), second drives (B7) to be divided into the second primary input (a '), the second main output (b '), the second control signal input (c '), second primary input (a ') be connected with DC24V power supply (A12), second main output (b ') be connected with the first motor module (A8), the second control signal input (c ') be connected with master chip (A1), according to the second control signal input (c '), the PWM ripple that the DC24V power supply of the second primary input (a ') becomes the first main output (b) is exported to the second motor module (B8), thus control the rotating speed of the second motor module (B8), the barrier of different directions can be detected by the photoelectric sensor (A11) at three positions, left, center, right, information is sent to main control chip (A1), main control chip (A1) sends parking order, carries out electric braking and dynamic braking, can restart when barrier leaves time and move forward.
2. the intelligent sound identification invalid wheelchair device according to claims 1, is characterized in that: main backstop (17) is tetragonal, comprises chassis (25) and four support bars, support bar places seat; Pedal fixed mount (7) is connected by pedal bracket fixation clamp (8) with straight-bar, and by frictional force fixing compact, pedal bracket fixation clamp (8) can be regulated relative to the position of seat; Pedal bracing frame (9) is regular length, and pedal fixed mount (7) remains unchanged relative to the position of seat plane.
3. the intelligent sound identification invalid wheelchair device according to claims 1, is characterized in that: front-wheel adopts universal wheel form, and bracing frame (13) becomes-15 ° of angles relative to vertical direction, can guarantor to stability; Trailing wheel (16) adopts form of spokes to support; Locked by trailing wheel locking cap (16), and moment is passed to trailing wheel inner sleeve (49) from the first deboost axle (28); Rear tire tube (45) adopts non-inflatable tyre.
4. the intelligent sound identification invalid wheelchair device according to claims 1, is characterized in that: anti-down support bar (31) of taking turns is for nearly right-angle structure, and connection one is anti-down above takes turns (33); Anti-down support bar (31) of taking turns is fixed on rear side of the middle part of chassis (25) by anti-down adpting flange (30) of taking turns.
5. the intelligent sound identification invalid wheelchair device according to claims 1, it is characterized in that: the output shaft of the first enclosed planetary reduction gear (51) is connected to first reduction gearing (38), the second reduction gearing (36) engagement of the first reduction gearing (38) and parallel axes; Second reduction gearing (36) is connected with the first deboost axle (28) by flat key.
6. intelligent sound identification invalid wheelchair device according to claim 1, it is characterized in that: being provided with below of the first motor (27) be coaxial with it, for detecting first encoder (53) of the rotating speed of motor shaft, the leading portion of the first motor (27) is connected to the first enclosed planetary reduction gear (51), and both are by the first bolt (52) locking; First enclosed planetary reduction gear (51) by the second bolt (50) and matching nut bolt on the flange face of the first electric machine support (29).
7. intelligent sound identification invalid wheelchair device according to claim 1, it is characterized in that: being provided with below of the second motor (27 ') be coaxial with it, for detecting the second encoder (53 ') of the rotating speed of motor shaft, the leading portion of the second motor (27 ') is connected to the second enclosed planetary reduction gear (51 '), and both are by the 3rd bolt (52 ') locking; Second enclosed planetary reduction gear (51 ') by the 4th bolt (50 ') and matching nut bolt on the flange face of the second electric machine support (29 ').
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| CN201420784827.1U CN204306992U (en) | 2014-12-15 | 2014-12-15 | Intelligent sound identification invalid wheelchair device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434429A (en) * | 2014-12-15 | 2015-03-25 | 兰州理工大学 | Intelligent voice recognition disabled helping wheelchair system |
| CN104986040A (en) * | 2015-07-08 | 2015-10-21 | 无锡职业技术学院 | Voice recognition automobile speed controller and control method thereof |
| CN105059352A (en) * | 2015-07-17 | 2015-11-18 | 济南大学 | Safe intelligent baby carriage capable of being lifted |
| CN106236424A (en) * | 2016-09-06 | 2016-12-21 | 上海互邦医疗器械有限公司 | A kind of lain low electric wheelchair with voice control function |
| CN106901911A (en) * | 2017-04-21 | 2017-06-30 | 常熟市平方轮椅有限公司 | A kind of Intelligent manual wheel-chair of speech recognition |
| CN109414363A (en) * | 2016-06-24 | 2019-03-01 | 松下电器产业株式会社 | Electric wheelchair |
| CN113509092A (en) * | 2020-10-09 | 2021-10-19 | 苏州市春菊电器有限公司 | Dust collector floor brush driven by reverse rear wheel |
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2014
- 2014-12-15 CN CN201420784827.1U patent/CN204306992U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434429A (en) * | 2014-12-15 | 2015-03-25 | 兰州理工大学 | Intelligent voice recognition disabled helping wheelchair system |
| CN104986040A (en) * | 2015-07-08 | 2015-10-21 | 无锡职业技术学院 | Voice recognition automobile speed controller and control method thereof |
| CN104986040B (en) * | 2015-07-08 | 2018-06-19 | 无锡职业技术学院 | Voice recognition automobile speed controller and control method thereof |
| CN105059352A (en) * | 2015-07-17 | 2015-11-18 | 济南大学 | Safe intelligent baby carriage capable of being lifted |
| CN109414363A (en) * | 2016-06-24 | 2019-03-01 | 松下电器产业株式会社 | Electric wheelchair |
| CN109414363B (en) * | 2016-06-24 | 2020-02-18 | 松下电器产业株式会社 | Electric wheelchair |
| CN106236424A (en) * | 2016-09-06 | 2016-12-21 | 上海互邦医疗器械有限公司 | A kind of lain low electric wheelchair with voice control function |
| CN106901911A (en) * | 2017-04-21 | 2017-06-30 | 常熟市平方轮椅有限公司 | A kind of Intelligent manual wheel-chair of speech recognition |
| CN113509092A (en) * | 2020-10-09 | 2021-10-19 | 苏州市春菊电器有限公司 | Dust collector floor brush driven by reverse rear wheel |
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