CN210250324U

CN210250324U - Intelligent wheelchair

Info

Publication number: CN210250324U
Application number: CN201920829138.0U
Authority: CN
Inventors: 周英华; 朱长卿; 王斌; 周斌; 张平泽
Original assignee: Changzhou Vocational Institute of Mechatronic Technology
Current assignee: Changzhou Vocational Institute of Mechatronic Technology
Priority date: 2019-06-04
Filing date: 2019-06-04
Publication date: 2020-04-07
Anticipated expiration: 2029-06-04

Abstract

The utility model belongs to the technical field of medical equipment, a intelligence wheelchair is related to. The bottom layer structure of the intelligent wheelchair comprises a bottom layer frame, a driving wheel, a front wheel, a driving device, a rear wheel and obstacle crossing wheels. Two sides of the rear part of the bottom layer frame are respectively fixed with a driving wheel, and a driving device is fixed on the inner side of the driving wheel and used for driving the driving wheel to rotate; front wheels are respectively fixed on two sides of the front part of the bottom layer frame, and the front wheels and the driving wheels support the wheelchair together during normal running; two obstacle crossing wheels are arranged in the middle of the bottom layer frame and connected with an obstacle avoidance electric push rod, and the obstacle avoidance electric push rod is fixed on the bottom layer frame. The utility model discloses a but mechanical structure multidimension is adjusted, and the user can adjust the height of whole wheelchair according to the comfort level of self, adjusts the level according to horizontal gyroscope in order to guarantee that the user is in the level at the in-process seat of marcing, guarantees user's travelling comfort. Simultaneously, the intelligent wheelchair has the functions of neck traction, stretching and massage, and helps a user to relieve fatigue or treat neck diseases.

Description

Intelligent wheelchair

Technical Field

The utility model belongs to the technical field of medical equipment, a intelligence wheelchair is related to.

Background

At present, the demand for the intelligent wheelchair is increasing at home and abroad, and users not only have old people, disease patients, but also some young people. The requirements of the intelligent wheelchair are safety and convenience during use and certain rehabilitation and entertainment functions. However, the functions of intelligent wheelchair products in a large number of markets are difficult to meet the requirements, and most wheelchairs can only meet basic purposes. The utility model discloses design intelligent wheelchair from satisfying the user demand, control from guaranteeing medical safe's special requirement simultaneously to satisfy current intelligent wheelchair's market demand.

SUMMERY OF THE UTILITY MODEL

The utility model provides an intelligent wheelchair improves intelligent wheelchair's security and convenience, makes intelligent wheelchair possess recovered function and entertainment function.

The technical scheme of the utility model as follows:

an intelligent wheelchair is integrally divided into three layers of structures, including a bottom layer structure, a middle layer structure and an upper layer structure; the bottom layer structure ensures the integral rigidity of the intelligent wheelchair; the middle layer structure realizes horizontal adjustment in the Y-axis direction; the upper layer structure realizes the sitting posture height adjustment and the X-axis horizontal adjustment of the intelligent wheelchair;

the bottom layer structure comprises a bottom layer frame, a driving wheel, a front wheel, a driving device, a rear wheel and an obstacle crossing wheel.

Two sides of the rear part of the bottom layer frame are respectively fixed with a driving wheel, and a driving device is fixed on the inner side of the driving wheel and used for driving the driving wheel to rotate; front wheels are respectively fixed on two sides of the front part of the bottom layer frame, and the front wheels and the driving wheels support the wheelchair together during normal running; two obstacle crossing wheels are arranged in the middle of the bottom layer frame and are connected with an obstacle avoidance electric push rod, the obstacle avoidance electric push rod is fixed on the bottom layer frame, and when a small obstacle is crossed, the obstacle avoidance electric push rod pushes the obstacle crossing wheels to press downwards to prop up the front wheels and keep the wheelchair to move forwards; two rear wheels are arranged on two sides of the tail of the bottom layer frame and are elastically installed, so that the stress keeps the wheelchair balanced when the wheelchair crosses an obstacle, and the wheelchair crosses the obstacle.

An energy storage battery box is arranged above the tail part of the bottom layer frame and is positioned at the upper part between the driving wheel and the rear wheel;

the middle layer structure comprises a middle layer frame, an X-axis horizontal push rod, a Y-axis horizontal push rod and a Y-axis tension spring;

one ends of the two Y-axis tension springs and the Y-axis horizontal push rod are respectively connected with the front end of the bottom layer frame, the other ends of the two Y-axis tension springs and the Y-axis horizontal push rod are connected with the middle layer frame, and the middle layer frame is fixed above the bottom layer frame; the two Y-axis tension springs are parallel to the Y-axis horizontal push rod, and the Y-axis horizontal push rod is located between the two Y-axis tension springs, so that the level and the stability of the Y-axis direction are guaranteed. An X-axis horizontal push rod is fixed between the middle layer frame and the upper layer structure; the X-axis horizontal push rod is used for adjusting the X-axis horizontal.

The upper layer structure comprises an upper layer frame, pedals, an ultrasonic detection device, a touch screen, an operating handle and an ultrasonic device;

the lower part is equipped with pedal before the upper frame, and pedal bottom is equipped with ultrasonic testing device, and three ultrasonic device of group are fixed just anteriorly at the upper frame, and the operating handle is fixed on the anterior right side of upper frame, and the touch-sensitive screen is placed in the anterior left side of upper frame, and the left and right sides of upper frame is equipped with the hand protector, and the rear portion of upper frame is equipped with the back of the chair and pushing hands, and the rear of the back of the chair is equipped with neck and pulls and massage device.

The neck traction and massage device comprises a front and back adjusting device, an electric push rod, a guide rod, an oval massage rod, an elastic belt, a U-shaped headrest, a hasp, a neck pocket, a connecting sleeve and a guide rod barrel;

the front and back adjusting device is of a convex plate-shaped structure, through holes are respectively formed in two ends of the front and back adjusting device, and fastening bolts are arranged on the outer sides of the through holes;

one end of the guide rod cylinder vertically penetrates through the bulge of the front and rear adjusting device, the other end of the guide rod cylinder is fixedly connected with one end of the electric push rod, the two guide rods are fixed on the upper surface of the front and rear adjusting device by taking the guide rod cylinder as a symmetrical central line, and a return spring is arranged in the guide rod cylinder;

the other end of the electric push rod is fixedly connected with a U-shaped headrest, and the other ends of the two guide rods are respectively connected with two sides of the U-shaped headrest; the electric push rod is sleeved with a connecting sleeve, and two pressure-sensitive sensors are arranged in the connecting sleeve; the two sides of the U-shaped headrest are respectively provided with an adjusting long waist hole at the fixing position of the hasp, and a user can flexibly adjust the front and back positions of the hasp according to the head shape.

U type headrest both sides be equipped with the hasp respectively, the hasp passes through the elastic webbing and links to each other with the one end of neck pocket, not only can become more releiving the tensile force, user's accessible is adjusted the position of elastic webbing and hasp simultaneously and is obtained suitable position, improvement travelling comfort.

Furthermore, an oval massage rod is arranged in the U-shaped headrest.

Furthermore, the U-shaped headrest is made of plastic, and the neck pocket is made of soft materials.

Furthermore, a guide rod adjusting space is arranged at the joint of the back of the U-shaped headrest and the electric push rod.

The utility model has the advantages that:

the utility model relates to an intelligence wheelchair, but this intelligence wheelchair's mechanical structure multidimension is adjusted, and the user can adjust the height of whole wheelchair according to the comfort level of self, adjusts the level according to horizontal gyroscope in order to guarantee that the user is in the level at the in-process seat of marcing, guarantees user's travelling comfort. Simultaneously, the intelligent wheelchair has the functions of neck traction, stretching and massage, and helps a user to relieve fatigue or treat neck diseases. The front part of the wheelchair is provided with a platform, one side of the platform is provided with a touch screen for monitoring and controlling the state of the wheelchair and playing entertainment, the other side is a working platform for a user to place related articles, and the platform can be stretched back and forth and can also rotate at a certain angle for convenient use. A collision sensor is arranged in front of the wheelchair and combined with locked-rotor current detection of a driving motor so as to judge whether the wheelchair meets an obstacle and adopt a corresponding control mode, and a pit detection sensor is arranged at the lower part of the wheelchair to prevent the wheelchair from entering a pit.

Drawings

Fig. 1 is a left side view of the intelligent wheelchair.

Fig. 2 is a drawing of the cervical traction and massage device.

Fig. 3 is a rear view of the cervical traction and massage apparatus.

Fig. 4 is a perspective view of the smart wheelchair.

In the figure, 1 drives the wheel; 2 neck traction and massage device; 2-1, a front and back adjusting device; 2-2-1 electric push rod; 2-2-2 guide bar; 2-3 oval massage bars; 2-4 elastic bands; 2-5U-shaped headrest; 2-6, hasp and adjusting long waist hole; 2-7 neck pockets; 2-8 connecting sleeve; 2-9 guide rods are used for adjusting the space; 3, front wheels; 4, pedaling; 5, an ultrasonic detection device; 6, a touch screen; 7 operating a handle; 8, protecting hands; 9, pushing a handle; a 10X-axis horizontal push rod; 11Y-axis horizontal push rods; 12, obstacle avoidance electric push rods; 13Y axial tension spring; 14 an ultrasonic device; 15 a drive device; 16 rear wheels; and 17 obstacle crossing wheels.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. The present invention will be further explained with reference to the accompanying drawings.

An intelligent wheelchair is integrally divided into three layers of structures, including a bottom layer structure, a middle layer structure and an upper layer structure; the substructure comprises a substructure frame, drive wheels 1, front wheels 3, drive means 15, rear wheels 16 and obstacle crossing wheels 17.

The two sides of the rear part of the bottom layer frame are respectively fixed with a driving wheel 1, and a driving device 15 is fixed on the inner side of the driving wheel 1 and used for driving the driving wheel 1 to rotate; front wheels 3 are respectively fixed on two sides of the front part of the bottom layer frame, and support the wheelchair together with the driving wheels 1 during normal running; two obstacle crossing wheels 17 are arranged in the middle of the bottom layer frame, the obstacle crossing wheels 17 are connected with an obstacle avoidance electric push rod 12, the obstacle avoidance electric push rod 12 is fixed on the bottom layer frame, when a small obstacle is crossed, the obstacle avoidance electric push rod 12 pushes the obstacle crossing wheels 17 to press downwards, the front wheels 3 are supported, and the wheelchair is kept to advance; two rear wheels 16 are arranged on two sides of the tail of the bottom layer frame, and the two wheels are elastically installed, so that the stress keeps the balance of the wheelchair when the wheelchair crosses an obstacle, and the wheelchair crosses the obstacle.

An energy storage battery box is arranged above the tail part of the bottom layer frame and is positioned at the upper part between the driving wheel 1 and the rear wheel 16;

the middle layer structure comprises a middle layer frame, an X-axis horizontal push rod 10, a Y-axis horizontal push rod 11 and a Y-axis tension spring 13;

one ends of two Y-axis tension springs 13 and a Y-axis horizontal push rod 11 are respectively connected with the front end of the bottom layer frame, the other ends of the two Y-axis tension springs and the Y-axis horizontal push rod are connected with the middle layer frame, and the middle layer frame is fixed above the bottom layer frame; the two Y-axis tension springs 13 are parallel to the Y-axis horizontal push rod 11, and the Y-axis horizontal push rod 11 is located between the two Y-axis tension springs 13, so that the Y-axis level and stability are guaranteed. An X-axis horizontal push rod 10 is fixed between the middle layer frame and the upper layer structure; the X-axis horizontal push rod 10 is used to adjust the level of the X-axis.

The upper layer structure comprises an upper layer frame, a pedal 4, an ultrasonic detection device 5, a touch screen 6, an operating handle 7 and an ultrasonic device 14;

the lower part is equipped with pedal 4 before the upper frame, and pedal 4 bottoms are equipped with ultrasonic testing device 5, and three ultrasonic device 14 of group are fixed directly in front of the upper frame, and the operating handle 7 is fixed on the anterior right side of upper frame, and touch-sensitive screen 6 is placed in the anterior left side of upper frame, and the left and right sides of upper frame is equipped with hand protector 8, and the rear portion of upper frame is equipped with the back of the chair and pushing hands 9, and the rear of the back of the chair is equipped with neck and pulls and massage device 2.

The neck traction and massage device 2 comprises a front-back adjusting device 2-1, an electric push rod 2-2-1, a guide rod 2-2-2, an oval massage rod 2-3, an elastic belt 2-4, a U-shaped headrest 2-5, a hasp 2-6-1, a neck pocket 2-7, a connecting sleeve 2-8 and a guide rod barrel 2-10;

the front and rear adjusting device 2-1 is of a convex plate-shaped structure, through holes are respectively formed in two ends of the front and rear adjusting device 2-1, and fastening bolts are arranged outside the through holes;

one end of the guide rod barrel 2-10 vertically penetrates through the bulge of the front and rear adjusting device 2-1, the other end of the guide rod barrel 2-10 is fixedly connected with one end of the electric push rod 2-2-1, the two guide rods 2-2-2 are fixed on the upper surface of the front and rear adjusting device 2-1 by taking the guide rod barrel 2-10 as a symmetrical central line, and return springs are arranged in the guide rod barrel 2-10;

the other end of the electric push rod 2-2-1 is fixedly connected with a U-shaped headrest 2-5, and the other ends of the two guide rods 2-2-2 are respectively connected with two sides of the U-shaped headrest 2-5; the electric push rod 2-2-1 is sleeved with a connecting sleeve 2-8, and two pressure-sensitive sensors are arranged in the connecting sleeve 2-8;

the two sides of the U-shaped headrest 2-5 are respectively provided with an adjusting long waist hole 6-2 at the fixing position of the hasp 2-6-1, and a user can flexibly adjust the front and back positions of the hasp 2-6-1 according to the head shape.

Two sides of the U-shaped headrest 2-5 are respectively provided with a hasp 2-6-1, the hasp 2-6-1 is connected with one end of the neck pocket 2-7 through an elastic belt 2-4, so that the stretching force can be relieved, and a user can obtain a proper position and improve the comfort by adjusting the positions of the elastic belt 2-4 and the hasp 2-6-1.

A. The intelligent wheelchair has multiple working modes:

(1) a state adjustment mode in which the control keys of the other modes are not active, the drive wheels are locked, and the user can adjust the height of the seat, the position of the neck traction and massage device 2, the position of the touch screen 6, etc.

(2) The neck traction stretching and massage mode, the keys of other modes do not work, the driving wheel 1 is locked, and only the traction stretching and massage control keys work.

(3) In the manual driving mode, other mode keys do not work, only the manual driving control key acts, driving is carried out under the control of a user, when the obstacle avoidance system detects an obstacle, corresponding alarming is carried out, if the obstacle is small, a warning is given, obstacle crossing control is started, and the obstacle is crossed by combining the control of the user; if the obstacle is large (including a pit), a serious warning is issued, and the driving speed is reduced to the minimum, and the vehicle is driven according to the control of the user.

(4) A navigation mode (self-running mode), wherein only the emergency stop button is used, and the keys in other modes are not used; the intelligent wheelchair is internally provided with programs such as a motion track, a speed, a timing and the like, and the intelligent wheelchair automatically runs according to the set programs. If the obstacle is small in running, starting obstacle crossing control to automatically cross the obstacle; if the obstacle is large (including a pit), obstacle avoidance control is started, and the vehicle runs around the obstacle.

B. The intelligent wheelchair has the intelligent control mode

(1) The barrier operation is kept away to intelligence, and the pedal lower part of front end is equipped with ultrasonic detection device 5 for confirm whether there is barrier or pit in operation the place ahead, and judge the distance with the barrier, if the distance is less than a definite value, then be big barrier, if the distance is greater than a definite value, then be the pit. The intelligent wheelchair performs according to different working modes. The device does not work in the state adjustment and neck traction stretching mode; in the manual driving mode, the running speed is reduced to the minimum, an alarm is given out, and the operation is executed according to the operation of a user to avoid collision or fall into a pit; stopping straight line operation in a navigation mode (self-propelled mode), starting obstacle avoidance control, and adopting arc line operation to bypass obstacles or pits.

(2) The intelligent obstacle crossing operation is realized, when the ultrasonic detection device 5 detects a small obstacle or does not detect the obstacle and does not start the obstacle crossing control, the ultrasonic device 14 arranged at the rear part of the pedal is used for detecting whether the small obstacle or pit exists or not, if the small obstacle or pit exists, the obstacle crossing control is started, the operation speed is reduced to be the lowest, the electric push rod presses the obstacle crossing support rod downwards, the obstacle crossing wheel lands on the ground, the front wheel is supported, and the small obstacle is crossed. A collision detection device arranged between the two front wheels detects whether collision exists or not and starts obstacle crossing control;

(3) and (3) automatically adjusting horizontal control, wherein a gyroscope is arranged below the upper-layer seat, the level of an X, Y shaft is detected, and the levelness of the seat is automatically adjusted according to detection parameters.

(4) Stretching safety guarantee control, setting a maximum stretching force threshold value under a neck traction stretching and massage mode, simultaneously detecting the stretching force through two pressure-sensitive sensors arranged in a connecting sleeve, and stopping stretching and alarming if one of the pressure-sensitive sensors is greater than the threshold value; if the pressure difference value of the two pressure-sensitive sensors is too large, an alarm is given, and the system has problems.

(5) The intelligent Battery Management System (BMS) intelligently manages the self-contained energy storage battery, avoids over-charging and over-discharging the battery, detects parameters such as the residual electric quantity, the temperature, the current and the voltage of the battery, ensures that the battery exceeds a safety limit value and then gives an alarm within a safety range.

(6) The flexible parameter setting mode can set parameters such as working mode, motion trail and speed on the touch screen at the front end.

C. Other functions of the intelligent wheelchair are as follows:

(1) installing APP and video of the health lecture on the touch screen;

(2) an APP with a timing function is installed on the touch screen, such as prompting of taking medicines, sports and the like at several points;

(3) the APP with the positioning function and the mobile phone APP are arranged on the touch screen and are networked, so that families can know the positions of the wheelchair and a user in real time conveniently;

(4) the APP with the real-time state detection function is installed on the touch screen, so that a user can know the state of the intelligent wheelchair conveniently, and the travel is arranged reasonably.

Claims

1. An intelligent wheelchair is characterized in that the whole wheelchair is divided into three layers of structures, including a bottom layer structure, a middle layer structure and an upper layer structure;

the bottom layer structure comprises a bottom layer frame, a driving wheel (1), a front wheel (3), a driving device (15), a rear wheel (16) and an obstacle crossing wheel (17);

the two sides of the rear part of the bottom layer frame are respectively fixed with a driving wheel (1), and a driving device (15) is fixed on the inner side of the driving wheel (1) and used for driving the driving wheel (1) to rotate; front wheels (3) are respectively fixed on two sides of the front part of the bottom layer frame, and the front wheels and the driving wheels (1) support the wheelchair during normal running; two obstacle crossing wheels (17) are arranged in the middle of the bottom layer frame, the obstacle crossing wheels (17) are connected with an obstacle avoidance electric push rod (12), and the obstacle avoidance electric push rod (12) is fixed on the bottom layer frame; two rear wheels (16) are arranged on two sides of the tail of the bottom layer frame, and the two wheels are elastically installed, so that the stress keeps the wheelchair balanced when the wheelchair crosses an obstacle, and the wheelchair crosses the obstacle;

the middle layer structure comprises a middle layer frame, an X-axis horizontal push rod (10), a Y-axis horizontal push rod (11) and a Y-axis tension spring (13);

one ends of two Y-axis tension springs (13) and a Y-axis horizontal push rod (11) are respectively connected with the front end of the bottom layer frame, the other ends of the two Y-axis tension springs and the Y-axis horizontal push rod are connected with the middle layer frame, and the middle layer frame is fixed above the bottom layer frame; the two Y-axis tension springs (13) are parallel to the Y-axis horizontal push rod (11), and the Y-axis horizontal push rod (11) is positioned between the two Y-axis tension springs (13) to ensure the level and stability of the Y-axis; an X-axis horizontal push rod (10) is fixed between the middle layer frame and the upper layer structure; the X-axis horizontal push rod (10) is used for adjusting the X-axis horizontal;

the upper layer structure comprises an upper layer frame, a pedal (4), an ultrasonic detection device (5), a touch screen (6), an operating handle (7) and an ultrasonic device (14);

the lower part is equipped with pedal (4) before the upper frame, and pedal (4) bottom is equipped with ultrasonic detection device (5), and three ultrasonic device of group (14) are fixed directly before the upper frame, and operating handle (7) are fixed on the anterior right side of upper frame, and touch-sensitive screen (6) are placed in the anterior left side of upper frame, and the left and right sides of upper frame is equipped with hand protector (8), and the rear portion of upper frame is equipped with the back of the chair and pushing hands (9), and the rear of the back of the chair is equipped with neck traction and massage device (2).

2. The intelligent wheelchair as claimed in claim 1, wherein the neck traction and massage device (2) comprises a front and back adjusting device (2-1), an electric push rod (2-2-1), a guide rod (2-2-2), an elliptical massage rod (2-3), an elastic band (2-4), a U-shaped headrest (2-5), a hasp (2-6-1), a neck pocket (2-7), a connecting sleeve (2-8) and a guide rod cylinder (2-10);

the front and rear adjusting device (2-1) is of a convex plate-shaped structure, through holes are respectively formed in two ends of the front and rear adjusting device (2-1), and fastening bolts are arranged outside the through holes;

one end of the guide rod cylinder (2-10) vertically penetrates through the bulge of the front and rear adjusting device (2-1), the other end of the guide rod cylinder (2-10) is fixedly connected with one end of the electric push rod (2-2-1), the two guide rods (2-2-2) are fixed on the upper surface of the front and rear adjusting device (2-1) by taking the guide rod cylinder (2-10) as a symmetrical central line, and return springs are arranged in the guide rod cylinder (2-10);

the other end of the electric push rod (2-2-1) is fixedly connected with a U-shaped headrest (2-5), and the other ends of the two guide rods (2-2-2) are respectively connected with two sides of the U-shaped headrest (2-5); the electric push rod (2-2-1) is sleeved with the connecting sleeve (2-8), and two pressure-sensitive sensors are arranged in the connecting sleeve (2-8);

the two sides of the U-shaped headrest (2-5) are respectively provided with an adjusting long waist hole (6-2) at the fixing position of the hasp (2-6-1), and a user can flexibly adjust the front and back positions of the hasp (2-6-1) according to the head shape.

3. The intelligent wheelchair as claimed in claim 2, wherein buckles (2-6-1) are respectively arranged on both sides of the U-shaped headrest (2-5), and the buckles (2-6-1) are connected with one end of the neck pocket (2-7) through elastic bands (2-4).

4. The intelligent wheelchair as claimed in claim 2 or 3, wherein the U-shaped headrest (2-5) is internally provided with an oval massage rod (2-3).

5. The intelligent wheelchair as claimed in claim 2 or 3, wherein the U-shaped headrest (2-5) is made of plastic and the neck pocket (2-7) is made of soft material.

6. The intelligent wheelchair as claimed in claim 4, wherein the U-shaped headrest (2-5) is made of plastic and the neck pocket (2-7) is made of soft material.

7. The intelligent wheelchair as claimed in claim 2 or 3, wherein a guide rod adjusting space (2-9) is provided at the connection of the back of the U-shaped headrest (2-5) and the electric push rod (2-2-1).

8. The intelligent wheelchair as claimed in claim 4, wherein a guide rod adjusting space (2-9) is provided at the connection of the back of the U-shaped headrest (2-5) and the electric push rod (2-2-1).

9. The method of claim 5; the intelligent wheelchair is characterized in that a guide rod adjusting space (2-9) is arranged at the joint of the back of the U-shaped headrest (2-5) and the electric push rod (2-2-1).