CN209630020U - Deformable wheelchair sensor attachment mechanism and deformable wheelchair - Google Patents
Deformable wheelchair sensor attachment mechanism and deformable wheelchair Download PDFInfo
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- CN209630020U CN209630020U CN201822210301.3U CN201822210301U CN209630020U CN 209630020 U CN209630020 U CN 209630020U CN 201822210301 U CN201822210301 U CN 201822210301U CN 209630020 U CN209630020 U CN 209630020U
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- connecting rod
- mounting base
- wheelchair
- deformable
- radar
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Abstract
The utility model discloses a kind of deformable wheelchair sensor attachment mechanism of utility model and deformable wheelchair, sensor attachment mechanism includes fixed frame, radar mounting base and camera mounting base；Radar mounting base is driven by first connecting rod mechanism and is moved between high-order and low level, and it remains horizontal；Camera mounting base is driven by second connecting rod mechanism and is moved, and has camera mounting portion in camera mounting base, and when radar mounting base is in high-order, camera mounting portion is lower than radar mounting base, and when radar mounting base is in low level, camera mounting portion is higher than radar mounting base.The deformable wheelchair sensor attachment mechanism of the utility model and deformable wheelchair, each sensor can be made to be in suitable installation site when needing using sensor, making it when without using sensor not influences the normal use of deformable wheelchair, the amoeboid movement of wheelchair equipped with the sensor attachment mechanism itself can drive the movement of sensor attachment mechanism, advantage of lower cost.
Description
Technical field
The utility model relates to medical instruments fields, more particularly to deformable wheelchair sensor attachment mechanism and can be changed
Shape wheelchair.
Background technique
Traditional wheelchair is required to someone's manipulation, with autonomous technology using manual or electric remote control mode
Maturation, intelligent wheel chair can autonomous under environment indoors, the mobile problem of wheelchair patient can not be manipulated by solving part.From
Main movement is most crucial to be the acquisition data of acquisition sensor and is handled, it is therefore desirable to sensor is installed on wheelchair, it is right
For the deformable wheelchair that can be changed to nursing bed, if sensor is fixed on fixed position, deformable wheelchair will be unfavorable for
It uses.
Utility model content
Purpose of utility model: in order to overcome the deficiencies in the prior art, the utility model provides a kind of deformable wheel
Chair sensor attachment mechanism and deformable wheelchair can make each sensor be in suitable installation when needing using sensor
Position, it is made when without using sensor not influences the normal use of deformable wheelchair.
Technical solution: to achieve the above object, the deformable wheelchair sensor attachment mechanism of the utility model, comprising solid
Determine frame, radar mounting base and camera mounting base；The radar mounting base is driven between high-order and low level by first connecting rod mechanism
Movement, and it remains horizontal；The camera mounting base is driven by second connecting rod mechanism and is moved, and has phase in camera mounting base
Machine mounting portion, and described in the radar mounting base in it is high-order when, camera mounting portion is lower than the radar mounting base, when described
When being in low level described in radar mounting base, camera mounting portion is higher than the radar mounting base.
Further, the first connecting rod mechanism and second connecting rod mechanism linkage move.
Further, the first connecting rod mechanism and the driving of second connecting rod mechanism are four-bar mechanism, and the two is shared
Several parts.
Further, the first connecting rod mechanism is parallelogram-type link mechanism, it includes being parallel to each other always and
Effective length isometric first connecting rod and second connecting rod；The second connecting rod mechanism includes third connecting rod and fourth link, described
One end of third connecting rod is hinged on the second connecting rod, and the other end is hinged in the fourth link, the fourth link hinge
It connects in the end far from the fixed frame of the first connecting rod；The camera mounting base is fixed in the fourth link.
Further, the camera mounting portion includes installation base plate, and there are two vertical its to set for setting on the installation base plate
The backplate set, two backplates are parallel to each other.
Deformable wheelchair includes above-mentioned deformable wheelchair sensor attachment mechanism；Also include wheelchair pedestal, takes turns seat
Cushion is installed, the side of the cushion is provided with back pad, and the other side of cushion is disposed with leg back cushion and foot on body
Mat；The back pad and leg back cushion can be rotated relative to cushion controllable rotary, the pedal pad relative to leg back cushion；Institute
Pedal pad is stated to be fixed in the camera mounting base；Depth camera, the radar mounting base are installed in the camera mounting base
On laser radar is installed.
Further, the first connecting rod mechanism all relies on the rotation of the leg back cushion with second connecting rod mechanism and transports
It is dynamic.
Further, the back pad is driven by the first electric pushrod and is rotated, and the leg back cushion is driven by the second electric pushrod
Turn is dynamic.
Further, ultrasonic range finder sensor is also equipped in the radar mounting base.
Further, the bottom of the wheelchair pedestal has driving wheel and driven wheel.
The utility model has the advantages that the deformable wheelchair sensor attachment mechanism of the utility model and deformable wheelchair, pass through setting
Respectively by the radar mounting base and camera mounting base of first connecting rod mechanism and second connecting rod mechanism, can need using sensor
When so that each sensor is in suitable installation site, it is made when without using sensor not influences the normal use of deformable wheelchair,
The amoeboid movement of wheelchair equipped with the sensor attachment mechanism itself can drive the movement of sensor attachment mechanism, reduce dynamic
Power unit, advantage of lower cost.
Detailed description of the invention
Attached drawing 1 is the first state figure of deformable wheelchair sensor attachment mechanism；
Attached drawing 2 is the second state diagram of deformable wheelchair sensor attachment mechanism；
Attached drawing 3 is the first state figure of deformable wheelchair；
Attached drawing 4 is the second state diagram of deformable wheelchair.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
Deformable wheelchair sensor attachment mechanism 1 as described in Fig. 1 includes fixed frame 1-1, radar mounting base 1-2
With camera mounting base 1-3, radar mounting base 1-2 is for installing laser radar 10 and ultrasonic range finder sensor 11, camera installation
Seat 1-3 is used for fitting depth camera 9；The radar mounting base 1-2 is driven by first connecting rod mechanism and is transported between high-order and low level
It is dynamic, and it remains horizontal, so it is mounted on laser radar 10 on radar mounting base 1-2 and ultrasonic range finder sensor 11
Translational motion can occur, without generating yaw motion；The camera mounting base 1-3 is driven by second connecting rod mechanism and is moved, phase
There is camera mounting portion 1-31 on machine mounting base 1-3, and described in the radar mounting base 1-2 in it is high-order when, camera installation
Portion 1-31 is lower than the radar mounting base 1-2, and camera mounting portion 1-31 is in receiving state at this time, as shown in Fig. 2, camera peace
Dress portion 1-31 will not influence the use of deformable wheelchair；When being in low level described in the radar mounting base 1-2, camera mounting portion
1-31 is higher than the radar mounting base 1-2, and camera mounting portion 1-31 is in use state at this time, and is mounted on camera mounting portion 1-
Depth camera 9 on 31 is in head-up state, and height locating for depth camera 9 is in suitable position at this time.
In order to move synchronously radar mounting base 1-2 can with camera mounting base 1-3, and the number of power source is saved, it is described
First connecting rod mechanism and second connecting rod mechanism linkage move.In the present embodiment, the first connecting rod mechanism and second connecting rod machine
Structure driving is four-bar mechanism, and the two shares several parts.Specifically, the first connecting rod mechanism is parallelogram-type
Link mechanism, it includes the first connecting rods being parallel to each other always and effective length (spacing between two articulated shafts of connecting rod) is isometric
1-4 and second connecting rod 1-5, the both ends of first connecting rod 1-4 are respectively hinged on fixed frame 1-1 and radar mounting base 1-2, and second
The both ends of connecting rod 1-5 are also respectively hinged on fixed frame 1-1 and radar mounting base 1-2, i.e., first connecting rod mechanism is connected by first
Bar 1-4, second connecting rod 1-5, fixed frame 1-1 and radar mounting base 1-2 composition；The second connecting rod mechanism includes third
Connecting rod 1-6 and fourth link 1-7, one end of the third connecting rod 1-6 are hinged on the second connecting rod 1-5, and the other end is hinged
On the fourth link 1-7, the fourth link 1-7 is hinged on the separate fixed frame 1-1's of the first connecting rod 1-4
End；Second connecting rod mechanism is by first connecting rod 1-4, second connecting rod 1-5, third connecting rod 1-6 and fourth link 1-7 structure
When at, such first connecting rod mechanism kinematic, second connecting rod mechanism can also move therewith, and the camera mounting base 1-3 is fixed on institute
It states on fourth link 1-7.
The camera mounting portion 1-31 includes installation base plate 1-311, and there are two vertical for setting on the installation base plate 1-311
Its backplate 1-312 being arranged, two backplate 1-312 are parallel to each other, two backplate 1-312 can protection depth camera 9, prevent camera
Mounting portion 1-31 move when with exterior object damaged in collision core element.
Deformable wheelchair as shown in Fig. 3 includes above-mentioned deformable wheelchair sensor attachment mechanism 1；Also include
Wheelchair pedestal 2 is equipped with cushion 3 on wheelchair pedestal 2, and the side of the cushion 3 is provided with back pad 4, and the other side of cushion 3 is successively
It is provided with leg back cushion 5 and pedal pad 6；The back pad 4 and leg back cushion 5 can relative to 3 controllable rotary of cushion, specifically,
The back pad 4 is driven by the first electric pushrod 7 and is rotated, and the leg back cushion 5 is driven by the second electric pushrod 8 and rotated, the foot
Mat 6 can be rotated relative to leg back cushion 5；The pedal pad 6 is fixed on the camera mounting base 1-3.The camera installation
Depth camera 9 is installed on seat 1-3, laser radar 10 and ultrasonic range finder sensor 11 are installed on the radar mounting base 1-2.
State as shown in Fig. 3 is wheelchair state, at this point, each sensor is in running order, the height of depth camera 9
Higher than people's foot, the optimum position in acquisition image, and laser radar 10 and ultrasonic range finder sensor 11 are in lower position, it can
The lower barrier of effective detecting location, such as road serrated edge；State as shown in Fig. 4 is nursing bed state, at this point, each pass
Sensor is in off working state, and the position of entire deformable wheelchair sensor attachment mechanism 1 is lower than the plane that user is lain, no
Influence whether normal use.
Preferably, the first connecting rod mechanism all relies on the rotation of the leg back cushion 5 with second connecting rod mechanism and transports
Dynamic, in the present embodiment, leg back cushion 5 is fixed on first connecting rod 1-4, when the second electric pushrod 8 pushes leg back cushion 5 to move,
Leg back cushion 5 will drive first connecting rod 1-4 movement, to drive first connecting rod mechanism kinematic, due to first connecting rod mechanism and the
Two link mechanism linkages, therefore second connecting rod mechanism also can be with movement.
Preferably, the bottom of the wheelchair pedestal 2 has driving wheel and driven wheel, also equipped with control on wheelchair pedestal 2
Device processed, driving wheel, depth camera 9, laser radar 10 and ultrasonic range finder sensor 11 4 are all connected with controller, and controller can root
Figure is built in the data progress acquired according to depth camera 9, laser radar 10 with ultrasonic range finder sensor 11 automatically and SLAM navigates and controls
Driving wheel rotation processed, this belongs to the mature technology of robot field, since the key protection point of the utility model is structure, no
This part is specifically addressed.
The deformable wheelchair sensor attachment mechanism of the utility model and deformable wheelchair, by being arranged respectively by first
The radar mounting base and camera mounting base of link mechanism and second connecting rod mechanism, can make each sensing when needing using sensor
Device is in suitable installation site, it is made when without using sensor not influences the normal use of deformable wheelchair, equipped with the biography
The amoeboid movement of the wheelchair of sensor installing mechanism itself can drive the movement of sensor attachment mechanism, reduce power unit, at
This is relatively low.
The above is only the preferred embodiment of the utility model, it should be pointed out that: for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (10)
1. deformable wheelchair sensor attachment mechanism, which is characterized in that installed comprising fixed frame, radar mounting base and camera
Seat;The radar mounting base is driven by first connecting rod mechanism and is moved between high-order and low level, and it remains horizontal;It is described
Camera mounting base is driven by second connecting rod mechanism and is moved, and has camera mounting portion in camera mounting base, and when the radar is installed
Seat it is described in it is high-order when, camera mounting portion is lower than the radar mounting base, when being in low level described in the radar mounting base,
Camera mounting portion is higher than the radar mounting base.
2. by deformable wheelchair sensor attachment mechanism described in claim 1, which is characterized in that the first connecting rod mechanism
It is moved with second connecting rod mechanism linkage.
3. by deformable wheelchair sensor attachment mechanism as claimed in claim 2, which is characterized in that the first connecting rod mechanism
Driving with second connecting rod mechanism is four-bar mechanism, and the two shares several parts.
4. by deformable wheelchair sensor attachment mechanism as claimed in claim 3, which is characterized in that the first connecting rod mechanism
For parallelogram-type link mechanism, it includes the first connecting rods and second connecting rod that are parallel to each other always and effective length is isometric;
The second connecting rod mechanism includes third connecting rod and fourth link, and one end of the third connecting rod is hinged on the second connecting rod
On, the other end is hinged in the fourth link, and the fourth link is hinged on the separate fixed frame of the first connecting rod
End；The camera mounting base is fixed in the fourth link.
5. by deformable wheelchair sensor attachment mechanism described in claim 1, which is characterized in that the camera mounting portion packet
It is arranged containing installation base plate, on the installation base plate there are two the backplate of its vertical setting, two backplates are parallel to each other.
6. deformable wheelchair, which is characterized in that pacify comprising deformable wheelchair sensor as described in any one in claim 1-5
Mounting mechanism；Also include wheelchair pedestal, cushion be installed on wheelchair pedestal, the side of the cushion is provided with back pad, cushion it is another
Side is disposed with leg back cushion and pedal pad；The back pad and leg back cushion can be described relative to cushion controllable rotary
Pedal pad can be rotated relative to leg back cushion；The pedal pad is fixed in the camera mounting base；In the camera mounting base
Depth camera is installed, laser radar is installed in the radar mounting base.
7. by deformable wheelchair as claimed in claim 6, which is characterized in that the first connecting rod mechanism and second connecting rod mechanism are equal
It relies on the rotation of the leg back cushion and moves.
8. by deformable wheelchair as claimed in claim 7, which is characterized in that the back pad is driven by the first electric pushrod and is rotated,
The leg back cushion is driven by the second electric pushrod and is rotated.
9. by deformable wheelchair as claimed in claim 6, which is characterized in that be also equipped with supersonic sounding in the radar mounting base
Sensor.
10. by deformable wheelchair as claimed in claim 6, which is characterized in that the bottom of the wheelchair pedestal have driving wheel with
Driven wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822210301.3U CN209630020U (en) | 2018-12-27 | 2018-12-27 | Deformable wheelchair sensor attachment mechanism and deformable wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822210301.3U CN209630020U (en) | 2018-12-27 | 2018-12-27 | Deformable wheelchair sensor attachment mechanism and deformable wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209630020U true CN209630020U (en) | 2019-11-15 |
Family
ID=68476023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822210301.3U Active CN209630020U (en) | 2018-12-27 | 2018-12-27 | Deformable wheelchair sensor attachment mechanism and deformable wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209630020U (en) |
-
2018
- 2018-12-27 CN CN201822210301.3U patent/CN209630020U/en active Active
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