CN211187867U - Double-form intelligent nursing type wheelchair - Google Patents

Abstract

The utility model provides a double-form intelligent nursing wheelchair, which relates to a wheelchair, comprising a seat, an auxiliary crawling device, an auxiliary balancing device and a control system, wherein the auxiliary crawling device and the auxiliary balancing device assist the wheelchair to complete the stair climbing operation; the intelligent control and intelligent obstacle avoidance of the wheelchair are realized by arranging the control module and the infrared distance measurement module, the problem that the wheelchair is difficult to go upstairs and downstairs is solved, and the wheelchair is more intelligent and humanized.

Description

Double-form intelligent nursing type wheelchair

Technical Field

The utility model relates to a wheelchair, concretely relates to two form intelligent nursing formula wheelchairs.

Background

The wheelchair is an important tool for rehabilitation, is not only a walking aid for physically disabled persons and persons with mobility disabilities, but also is more important for the persons to do physical exercises and participate in social activities by means of the wheelchair. The wheelchairs sold on the market at present mainly comprise two types: manual wheelchairs and electric wheelchairs. The former is pushed by hand or manpower, the latter is mainly driven by a motor, and the manpower is replaced by electric power.

Whether a manual wheelchair or an electric wheelchair, the primary purpose is to assist the user in advancing. The existing wheelchair generally comprises a wheelchair frame, wheels, a brake device and a seat back, and mainly realizes the forward and backward movement and the like on a flat road by means of the wheels. The existing wheelchair has the defects of over-exclusive purpose, monotonous function and low safety factor, and has no other substantial uses except for protecting the injured part of a patient or the easily-injured part of the old for wheelchair users. Many old people in China live in old communities, have the problems of poor road surface, lack of elevators and the like, and are difficult to go out by oneself even if the old people have the electric wheelchair. The existing wheelchair can not assist a user to move upstairs and move in places such as potholes on the road surface.

Therefore, the application provides a dual-form intelligent nursing wheelchair.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects existing in the prior art, the utility model provides a double-form intelligent nursing wheelchair.

In order to achieve the above object, the present invention provides the following technical solutions:

a dual-form intelligent nursing wheelchair comprises a seat, an auxiliary crawling device, an auxiliary balancing device and a control system;

the seat comprises a seat body, two moving wheels, two universal wheels and two first motors, wherein the two moving wheels are arranged on the outer walls of the two sides of the rear part of the seat body through a rotating shaft respectively, and the two universal wheels are arranged on the two sides of the bottom of the front part of the seat body; the two first motors are respectively fixed on the inner walls of the two sides of the seat body, and an output shaft of each first motor is connected with one rotating shaft through a coupling;

the auxiliary crawling device is arranged below the seat body and comprises a supporting plate and two groups of stepped crawler devices arranged on two sides of the supporting plate, the bottom of the rear part of the seat body is rotatably connected with the two groups of stepped crawler devices, and the two moving wheels are respectively positioned on the outer sides of the stepped crawler devices on two sides;

the auxiliary balancing device is arranged in the middle of the bottom of the rear part of the seat body and can be connected with the seat body in a retractable manner, and the auxiliary balancing device is used for extending out and adjusting the levelness of the device when climbing stairs;

two groups of first electric push rods are arranged at the bottom in front of the seat body, first sliding grooves matched with the two first electric push rods are formed in the two groups of stepped crawler devices, the first electric push rods are fixed at the bottom of the seat body, and the end parts of the push rods of the first electric push rods are connected with the first sliding grooves in a sliding mode through ball joints;

control system includes controller, manipulation module, infrared range finding module and levelness sensor, controller and levelness sensor set up seat body bottom, the manipulation module sets up seat body one side, infrared range finding module sets up the seat body is positive, infrared range finding module and levelness sensor all with the controller electricity is connected, the controller is received manipulation module, infrared range finding module and levelness sensor's instruction and signal to judge received instruction and signal, control according to the judged result remove wheel, supplementary device of crawling, supplementary balancing unit and first electric putter action.

Preferably, each set of stepped crawler devices comprises a crawler box, a flexible chain-link crawler and a bearing seat fixedly connected with the inner side of the rear part of the crawler box, the crawler box is fixedly connected with the supporting plate, the outer wall of the crawler box is uniformly provided with three idler wheels and a driven wheel from front to back, an inducer higher than the driven wheel is arranged behind the driven wheel, the outer wall of the bearing seat is rotatably provided with a driving shaft higher than the inducer and positioned in front of the inducer, and the flexible chain-link crawler is arranged around the driving shaft, the inducer, the driven wheel and the three idler wheels; the seat body both sides all are provided with the second motor, every the output shaft of second motor passes through the belt and drives one the drive shaft rotates, first spout is seted up on the track case.

Preferably, the auxiliary balancing device is arranged in the middle of the bottom of the rear portion of the seat body and comprises a connecting plate, two balancing auxiliary wheels and two sets of second electric push rods, the two balancing auxiliary wheels are arranged on two sides of one end of the connecting plate through respective rotating shafts, the other end of the connecting plate is connected with the bottom of the seat body in a sliding mode, two second sliding grooves matched with the second electric push rods are formed in the connecting plate, the second electric push rods are fixed to the bottom of the seat body, and the end portions of the push rods of the second electric push rods are connected with the second sliding grooves in a sliding mode through ball joints.

Preferably, the seat body comprises a seat board box, a backrest, a pedal plate, two groups of third electric push rods and two groups of fourth electric push rods, wherein two sides of the seat board box are respectively provided with an armrest box, the bottom of the backrest is hinged with the top of a back plate of the seat board box, the two groups of third electric push rods are respectively fixed in the two armrest boxes, two sides of the backrest are provided with third sliding grooves matched with the third electric push rods, and the end parts of the push rods of the third electric push rods are in sliding connection with the third sliding grooves through ball joints; the two groups of fourth electric push rods are respectively fixed at the bottom of the front part of the seat plate box, a fourth sliding groove matched with the fourth electric push rods is formed in the bottom of the pedal plate, and the end parts of the push rods of the fourth electric push rods are in sliding connection with the fourth sliding groove through ball joints;

the two first motors are respectively fixed on the inner walls of two sides of the seat plate box, connecting blocks are arranged behind the seat plate box and are connected with the two bearing seats in a rotating mode, and the controller controls the third electric push rod and the fourth electric push rod to act.

Preferably, the operating module comprises an "up" button, a "down" button, an operating rod and five limit switches, the "up" button, the "down" button, the operating rod and the five limit switches are arranged on the console box on one side, the operating rod is rotatably arranged in front of the console box on one side, a control rod is arranged in the operating rod, an operating head is arranged on the top of the control rod, four limit switches surround the front, the back, the left and the right of the operating rod where the control rod is arranged, the other limit switch is arranged below the control rod, and when the operating rod is sequentially pulled forwards, backwards, left and right, the operating rod sequentially touches the four limit switches on the front, the back, the left and the right; when the operating head is pressed down, the bottom of the control rod touches the other limit switch;

the 'up' button, the 'down' button and five limit switches are electrically connected with the controller, the controller controls the descending or ascending of the step track device by receiving signals of the 'up' button and the 'down' button, the controller controls the wheelchair to advance, retreat, turn left and turn right by receiving signals of four limit switches arranged around the control rod, and the controller controls the backrest and the pedal to be unfolded or folded by receiving signals of the limit switches arranged below the control rod.

Preferably, all be provided with heating massage module and temperature detection module in handrail incasement, the seat incasement and the back, one side still be provided with light sense rhythm of heart test module on the handrail case.

Preferably, the front surface of the pedal is also provided with a monitoring induction lamp.

Preferably, still including setting up the wheelchair APP in the mobile device, be provided with the GPS locator in the bedplate case, the wheelchair APP pass through wireless communication module with controller and GPS locator communication connection.

Preferably, the other side is provided with a video call device on the armrest box.

Preferably, the wheelchair further comprises a power supply module, wherein the power supply module is arranged at the bottom of the seat box and supplies power to the whole wheelchair.

The utility model provides a two form intelligent nursing formula wheelchairs includes the seat, the supplementary device of crawling, supplementary balancing unit and control system, help the wheelchair to accomplish the operation of climbing the building through supplementary device of crawling and supplementary balancing unit, simultaneously, seat body the place ahead bottom is provided with two sets of first electric putter, set up the first spout with two first electric putter cooperations on two sets of ladder crawler attachment, first electric putter fixes in seat body bottom, the push rod tip of first electric putter passes through ball joint and first spout sliding connection, in the course of climbing the building through first electric putter with the seat top, make it keep the horizontality all the time; the intelligent control and intelligent obstacle avoidance of the wheelchair are realized by arranging the control module and the infrared distance measurement module, the problem that the wheelchair is difficult to go upstairs and downstairs is solved, and the wheelchair is more intelligent and humanized.

Drawings

Fig. 1 is a schematic structural view of a dual-form intelligent nursing wheelchair according to embodiment 1 of the present invention;

fig. 2 is a schematic side view of a dual-form intelligent nursing wheelchair according to embodiment 1 of the present invention;

fig. 3 is a rear view schematic structural view of a dual-form intelligent nursing wheelchair according to embodiment 1 of the present invention;

FIG. 4 is a schematic view of the partial structure of the portion A of FIG. 3;

FIG. 5 is a block diagram of the wheelchair in climbing stairs;

FIG. 6 is a schematic view of a portion of the structure of the portion B of FIG. 5;

FIG. 7 is a schematic view of the partial structure of the portion C of FIG. 5;

FIG. 8 is a schematic view of the wheelchair with the backrest and footrest deployed;

FIG. 9 is a schematic structural view of the auxiliary crawling apparatus;

FIG. 10 is a schematic view of the auxiliary balancing device;

FIG. 11 is a schematic structural view of a manipulator module;

FIG. 12 is a flow chart of the control pattern of the joystick;

fig. 13 is a flow chart of the upstairs and downstairs operation of the dual-form intelligent nursing wheelchair according to embodiment 1 of the present invention;

fig. 14 is a system hardware design diagram of a dual-form intelligent nursing wheelchair according to embodiment 1 of the present invention.

Description of reference numerals:

the seat comprises a seat 1, moving wheels 11, universal wheels 12, a seat box 13, a backrest 14, a pedal plate 15, a third electric push rod 16, a fourth electric push rod 17, an armrest box 18, a third sliding groove 19, a fourth sliding groove 110 and a connecting block 111; the auxiliary crawling device 2, a support plate 21, a crawler box 22, a flexible chain ring crawler 23, a bearing seat 24, a supporting belt wheel 25, a driven wheel 26, an inducer 27, a driving shaft 28 and a second motor 29; the auxiliary balancing device 3, the connecting plate 31, the balancing auxiliary wheel 32, the second electric push rod 33 and the second chute 34; the device comprises a first electric push rod 4, a first chute 5, a control module 6, a control rod 61, an operating head 62, an 'up' button 63 and a 'down' button 64; infrared ranging module 7, control response lamp 8.

Detailed Description

In order to make the technical solution of the present invention better understood and practical for those skilled in the art, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the technical solutions of the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. In the description of the present invention, unless otherwise specified, "a plurality" means two or more, and will not be described in detail herein.

Example 1

The utility model provides a double-form intelligent nursing wheelchair, which is shown in figures 1 to 11 and comprises a seat 1, an auxiliary crawling device 2, an auxiliary balancing device 3 and a control system;

the seat 1 comprises a seat body, two moving wheels 11, two universal wheels 12 and two first motors, wherein the two moving wheels 11 are respectively arranged on the outer walls of the two sides of the rear part of the seat body through a rotating shaft, and the two universal wheels 12 are arranged on the two sides of the bottom of the front part of the seat body; the two first motors are respectively fixed on the inner walls of the two sides of the seat body, and an output shaft of each first motor is connected with a rotating shaft through a coupling; the two moving wheels 11 are used for walking on a flat road, have good shock absorption effect, and the universal wheels 12 can change directions conveniently and flexibly. The seat body is mainly 7000 series aluminum alloy aerospace tai alloy, is heat treatable alloy, belongs to super hard aluminum alloy, and has good wear resistance.

The auxiliary crawling device 2 is arranged below the seat body, the auxiliary crawling device 2 comprises a supporting plate 21 and two groups of stepped crawler devices arranged on two sides of the supporting plate 21, the bottom of the rear portion of the seat body is rotatably connected with the two groups of stepped crawler devices, and the two moving wheels 11 are respectively positioned on the outer sides of the stepped crawler devices on the two sides;

the auxiliary balancing device 3 is arranged in the middle of the bottom at the rear part of the seat body and can be connected with the seat body in a retractable manner, and the auxiliary balancing device 3 is used for extending out and adjusting the levelness of the device when climbing stairs;

seat body the place ahead bottom is provided with two sets of electric putter 4, all set up on two sets of ladder crawler attachment with two first electric putter 4 complex first spouts 5, first electric putter 4 is fixed in seat body bottom, the push rod tip of first electric putter 4 passes through ball joint and 5 sliding connection of first spout. As shown in fig. 5, when climbing a building, first electric putter 4 is used for promoting the upwards jack-up in seat body the place ahead, reaches the safety when controlling the seat body level and guaranteeing to climb the building, and supplementary balancing unit 3 pops out and withdraws and is used for guaranteeing the balance when the focus changes suddenly when nursing formula wheelchair reachs the stair top when climbing the highest point, removes wheel 11 and is used for the flat road to ride instead of walk, has good bradyseism effect.

Control system includes the controller, control module 6, infrared ranging module 7 and levelness sensor, controller and levelness sensor set up in the seat body bottom, control module 6 sets up in seat body one side, infrared ranging module 7 sets up openly at the seat body, infrared ranging module 7 and levelness sensor all are connected with the controller electricity, the controller is received and is controlled module 6, infrared ranging module 7 and levelness sensor's instruction and signal, and judge received instruction and signal, remove wheel 11 according to the judged result control, supplementary device 2 of crawling, supplementary balancing unit 3 and the action of first electric putter. The controller is internally provided with an information detection unit, an information receiving unit, an information processing unit and a motor feedback control unit. When infrared ranging module 7 detects that the distance is not in the safe distance that sets up, first motor stops to reach intelligence and keeps away the barrier, can effective control speed of marcing and keep away the barrier, ensures user's safety in utilization.

Specifically, as shown in fig. 9, in the present embodiment, each group of stepped track devices includes a track box 22, a flexible chain-link track 23, and a bearing seat 24 fixedly connected to the inner side of the rear of the track box 22, the track box 22 is fixedly connected to a support plate 21, three idler wheels 25 and a driven wheel 26 are uniformly arranged on the outer wall of the track box 22 from front to rear, an inducer 27 higher than the driven wheel 26 is arranged behind the driven wheel 26, a driving shaft 28 higher than the inducer 27 and located in front of the inducer 27 is rotatably arranged on the outer wall of the bearing seat 24, and the flexible chain-link track 23 is installed around the driving shaft 28, the inducer 27, the driven wheel 26, and the three idler wheels 25; the two sides of the seat body are provided with second motors 29, the output shaft of each second motor 29 drives a driving shaft 28 to rotate through a belt, and the first sliding chute 5 is arranged on the crawler belt box 22. The bearing seat 24 is used for bearing the weight of the whole crawler belt and preventing the crawler belt from falling off when the wheelchair turns or runs in a side-tipping mode, and a reinforcing anti-skid rib is arranged on one surface of the flexible chain link crawler belt 23, which is in contact with the ground, so that the firmness of a crawler plate and the adhesive force between the crawler belt and the ground are improved.

Further, as shown in fig. 4 and fig. 10, in this embodiment, the auxiliary balancing device 3 is disposed in the middle of the bottom behind the seat body, the auxiliary balancing device 3 includes a connecting plate 31, two balancing auxiliary wheels 32 and two sets of second electric push rods 33, the two balancing auxiliary wheels 32 are disposed on two sides of one end of the connecting plate 31 through respective rotating shafts, the other end of the connecting plate 31 is slidably connected to the bottom of the seat body, two second sliding grooves 34 matched with the second electric push rods 33 are formed in the connecting plate 31, the second electric push rods 33 are fixed to the bottom of the seat body, and the end portions of the push rods of the second electric push rods 33 are slidably connected to the second sliding grooves 34 through ball joints. The cooperation of the ball head and the second sliding groove 34 realizes the stable ejection of the balance auxiliary wheel. When the auxiliary balancing device 3 is used for realizing reciprocating motion, a speed reducing device can be omitted, no transmission gap exists, the motion is stable, the problem that the gravity center can be suddenly changed when the wheelchair reaches the top of a stair can be effectively solved when the wheelchair is used for the wheelchair, and the overbalance is realized.

Further, as shown in fig. 6 and 7, in this embodiment, the seat body includes a seat box 13, a backrest 14, a pedal 15, two sets of third electric push rods 16 and two sets of fourth electric push rods 17, two sides of the seat box 13 are respectively provided with armrest boxes 18, the bottom of the backrest 14 is hinged to the top of the back plate of the seat box 13, the two sets of third electric push rods 16 are respectively fixed in the two armrest boxes 18, two sides of the backrest 14 are provided with third sliding grooves 19 matched with the third electric push rods 16, and the end portions of the push rods of the third electric push rods 16 are slidably connected with the third sliding grooves 19 through ball joints; two groups of fourth electric push rods 17 are respectively fixed at the bottom of the front part of the seat plate box 13, a fourth sliding groove 110 matched with the fourth electric push rods 17 is formed in the bottom of the pedal plate 15, and the end parts of the push rods of the fourth electric push rods 17 are in sliding connection with the fourth sliding groove 110 through ball joints;

the two first motors are respectively fixed on the inner walls of the two sides of the seat box 13, the connecting block 111 is arranged behind the seat box 13, the connecting block 111 is rotatably connected with the two groups of bearing seats 24, and the controller controls the third electric push rod 16 and the fourth electric push rod 17 to act.

Further, if 11 shows, in this embodiment, the operating module 6 includes an "up" button 63, a "down" button 64, an operating rod 61 and five limit switches disposed in the console box 18 on one side, the operating rod 61 is rotatably disposed in front of the console box 18 on one side, a control rod is disposed in the operating rod 61, an operating head 62 is disposed on the top of the control rod, wherein four limit switches are disposed around the control rod in front of, behind, left of, and right of the operating rod 61, another limit switch is disposed below the control rod, and when the operating rod 61 is sequentially pulled forward, backward, left of, and right of, the operating rod 61 sequentially touches the four limit switches; when the operating head 62 is pressed down, the bottom of the control rod touches the other limit switch;

the 'up' button 63, the 'down' button 64 and five limit switches are electrically connected with the controller, the controller controls the descending or ascending of the step track device by receiving signals of the 'up' button 63 and the 'down' button 64, the controller controls the wheelchair to advance, retreat, turn left and turn right by receiving signals of four limit switches arranged around the control rod, and the controller controls the backrest 14 and the pedal plate 15 to be unfolded or folded by receiving signals of the limit switches arranged below the control rod. When the operating head 62 is pressed, as shown in fig. 2, the controller controls the third electric push rod 16 and the two groups of fourth electric push rods 17 to contract, so that the backrest 14 is pulled up, the pedal plate 15 is put down, and the wheelchair state is recovered; when the operating head 62 is lifted, as shown in fig. 8, the controller controls the third electric push rod 16 and the two sets of fourth electric push rods 17 to be pushed out, the backrest 14 is laid flat, the pedal 15 is pulled up, the nursing-type wheelchair is converted into a wheelchair bed, and the control rods can control the wheelchair to move back and forth, left and right. The walking speed of the auxiliary crawling device 2 is adjusted through the control module 6, so that the whole machine can move, turn, climb, walk and the like conveniently.

In this embodiment, heating massage modules and temperature detection modules are arranged in the armrest box 18, the seat box 13 and the backrest 14, and a light sensation heart rate test module is further arranged on the armrest box 18 on one side. The temperature detection module is used for detecting the temperature to control the temperature of the seat and the armrests to be suitable for human bodies, and the light sensation heart rate test module detects the heart rate of the user at regular time.

Further, in this embodiment, the front surface of the pedal plate 15 is further provided with a monitoring induction lamp 8, and when the monitoring induction lamp 8 detects that the light transmittance is less than the set value, the monitoring induction lamp is automatically turned on.

Further, in this embodiment, still including setting up the wheelchair APP in the mobile device, be provided with the GPS locator in the seat case 13, wheelchair APP passes through wireless communication module and controller and GPS locator communication connection. If the wheelchair is abnormal, the wheelchair can give an alarm at the first time so as to take targeted measures to process, and meanwhile, the wheelchair can also send danger signals to family members of wheelchair users or nearby community hospitals by utilizing wireless signals.

Further, in the present embodiment, the other side armrest box 18 is provided with a video call device. The guardian of the user can check the real-time position of the wheelchair, the user can set an emergency contact person, and the guardian wants to send the position of the guardian at the emergency moment by continuously and quickly pressing the operation head 5.

Further, in this embodiment, the wheelchair further comprises a power module, and the power module is arranged at the bottom of the seat box 13 and supplies power to the whole wheelchair.

The controller of the intelligent wheelchair control system provided by the embodiment comprises an upper control part and a lower control part: the upper control adopts an STM32 series microcontroller STM32F103RCT6 chip pushed out by the Italian semiconductor group (ST); the lower control adopts a JY01 chip provided by Shanghai Juyi electronic technology development Limited, which is a multifunctional brushless DC motor driving integrated chip and has the functions of speed regulation, forward and reverse rotation, overcurrent protection and the like, and has the characteristics of stable work, strong interference prevention capability and the like. The received information is processed by calculation and then transmitted to a motor feedback control unit, and operation control is performed. And finding out the characteristics of the data to diagnose in a data analysis mode. The system helps a user to plan a reasonable travelling route, and ensures safety and effectiveness.

The motor and the motor used by the electric push rod in the embodiment of the present invention are both direct current motors, and the control system in the embodiment of the present invention completes the design and implementation of the intelligent wheelchair controller system through the research on the establishment of the mathematical model of the brushless direct current motor, the hardware circuit design of the intelligent wheelchair controller, the control algorithm of the upper control, and the like. The operating rod 61 is arranged beside the right armrest box 18, the operating rod 61 acts to enable the control rod to touch different limit switches, and the limit switches act to trigger the JY01 chip to execute corresponding programs so as to operate the brushless motor to rotate forward and backward and further control the forward, backward, left-turn and right-turn of the wheelchair; the operating head 62 is pressed down to trigger a limit switch below the control rod to act, the STM32 chip executes a corresponding program, and a corresponding electric push rod acts to realize the conversion from the wheelchair to the bed, otherwise, the operating head is lifted upwards to realize the conversion from the bed to the wheelchair; as shown in fig. 5, when the 'up' button 63 is pressed, the step track moves backwards and falls upstairs, and when the step track climbs upstairs, the level sensor of the seat is matched with the STM32 which controls the electric push rod at the bottom of the wheelchair, and the action of the electric push rod is controlled to control the level of the seat. Pressing the "down" button 64, based on the existing stair angle at 20 ° -45 °, the rear balance auxiliary wheel 32 pops up to 45 °, after this process is completed, the step track will move forward, the auxiliary wheel will retract slowly until the step track coincides with the stair plane, and the control flow chart is as shown in fig. 12 to 14.

The system hardware circuit mainly comprises an STM32 control circuit, a driving circuit based on an IR2136 driving chip, a three-phase full-bridge inverter circuit, an isolation circuit, a rotor position detection circuit, a keyboard circuit and a display circuit, as shown in FIG. 12. The STM32 microprocessor of the system generates 6 paths of pulse width modulation signals, the signals are transmitted to the IR2136 driving circuit through the isolation chip, and the IR2136 driving chip controls the on-off of the MOSFET according to PWM to realize the switching energization of the three-phase winding of the motor. The three-resistor current sampling circuit detects a motor current signal and feeds the motor current signal back to the STM32 microprocessor, and current is adjusted in real time to ensure safe and stable operation of the motor. Hall position sensors are arranged in the two movable wheels 11 and used for detecting the position of the rotor, an STM32 microprocessor captures a feedback pulse signal of the Hall position sensors, judges the correct position of the rotor and outputs a corresponding PWM signal for phase change control. Meanwhile, the rotating speed can be calculated according to the Hall position signal and used as rotating speed feedback, the actual rotating speed is detected to be compared with the given rotating speed, and the rotating speed is adjusted by adopting a fuzzy PI control algorithm. By varying the duty cycle of the STM32 output PWM signal, the voltage, and thus the speed, can be varied. The isolation circuit is designed for guaranteeing the stability and the anti-interference performance of the circuit, and is mainly used for transmitting 6 paths of PWM signals into a driving chip through an isolation chip, and acquiring rotor position signals and transmitting the rotor position signals into an STM32 microprocessor through the isolation chip. The system adopts STM32 as a control chip, software design runs in KeilMDK environment, and fuzzy PI control algorithm codes are compiled by C language, so that current feedback and rotating speed feedback double closed-loop control are realized. The system software mainly comprises a main program and an interrupt program design brushless direct current motor, and the brushless direct current motor consists of a motor main body and a driver, and is a typical mechanical and electrical integration product. Because the brushless DC motor is operated in a self-control mode, a starting winding is not additionally arranged on a rotor like a synchronous motor which is started under the condition of variable frequency and speed regulation and does not generate oscillation and step-out when the load suddenly changes. Structurally, the brushless motor is similar to the brush motor, and is provided with a rotor and a stator, but the structure of the brushless motor is opposite to that of the brush motor; the rotor of the brush motor is a coil winding and is connected with the power output shaft, and the stator is permanent magnet steel; the rotor of the brushless motor is permanent magnet steel, which is connected with the output shaft together with the shell, the stator is a winding coil, and a commutating brush for alternately changing the electromagnetic field of the brush motor is removed. Generally, the structure of the brushless motor is simpler, the use performance of the brushless motor is really determined, and the good electronic speed regulator needs to be subjected to overall control of processes such as singlechip control program design, circuit design, complex processing technology and the like.

Multifunctional intelligent nursing formula wheelchair can be in indoor outer safe driving to can adjust speed according to environmental change, the wheelchair can move under the environment of difference, for example meadow, sand ground, have the ladder place etc.. If the front part of the wheelchair has an obstacle, the wheelchair can accurately judge according to the situation and adjust the speed of the wheelchair. If the obstacle is a step, the wheelchair stops moving according to the obstacle avoidance function, and the wheelchair user selects the next step to move.

The above embodiments are only preferred embodiments of the present invention, the scope of protection of the present invention is not limited thereto, and any person skilled in the art can obviously obtain simple changes or equivalent replacements of the technical solutions within the technical scope of the present invention.

Claims (10)

1. A dual-form intelligent nursing wheelchair is characterized by comprising a seat (1), an auxiliary crawling device (2), an auxiliary balancing device (3) and a control system;

the seat (1) comprises a seat body, two moving wheels (11), two universal wheels (12) and two first motors, wherein the two moving wheels (11) are respectively arranged on the outer walls of the two sides of the rear part of the seat body through a rotating shaft, and the two universal wheels (12) are arranged on the two sides of the bottom of the front part of the seat body; the two first motors are respectively fixed on the inner walls of the two sides of the seat body, and an output shaft of each first motor is connected with one rotating shaft through a coupling;

the auxiliary crawling device (2) is arranged below the seat body, the auxiliary crawling device (2) comprises a supporting plate (21) and two groups of stepped crawler devices arranged on two sides of the supporting plate (21), the bottom of the rear portion of the seat body is rotatably connected with the two groups of stepped crawler devices, and the two moving wheels (11) are respectively located on the outer sides of the stepped crawler devices on the two sides;

the auxiliary balancing device (3) is arranged in the middle of the bottom of the rear part of the seat body and is connected with the seat body in a retractable manner, and the auxiliary balancing device (3) is used for extending out and adjusting the levelness of the device when climbing stairs;

two groups of first electric push rods (4) are arranged at the bottom in front of the seat body, first sliding grooves (5) matched with the two first electric push rods (4) are formed in the two groups of stepped crawler devices, the first electric push rods (4) are fixed at the bottom of the seat body, and the end parts of the push rods of the first electric push rods (4) are connected with the first sliding grooves (5) in a sliding mode through ball joints;

control system includes controller, manipulation module (6), infrared ranging module (7) and levelness sensor, controller and levelness sensor set up seat body bottom, manipulation module (6) set up seat body one side, infrared ranging module (7) set up the seat body is positive, infrared ranging module (7) and levelness sensor all with the controller electricity is connected, the controller is received manipulation module (6), infrared ranging module (7) and levelness sensor's instruction and signal to judge received instruction and signal, control according to the judged result remove wheel (11), supplementary device (2), supplementary balancing unit (3) and the action of first electric putter.

2. The dual-form intelligent nursing wheelchair as claimed in claim 1, wherein each set of the step-track devices comprises a track box (22), a flexible link track (23) and a load-bearing seat (24) fixedly connected with the inner side of the rear of the track box (22), the crawler belt box (22) is fixedly connected with the support plate (21), three supporting belt wheels (25) and a driven wheel (26) are uniformly arranged on the outer wall of the crawler belt box (22) from front to back, an inducer (27) higher than the driven wheel (26) is arranged behind the driven wheel (26), a driving shaft (28) which is higher than the inducer (27) and is positioned in front of the inducer (27) is rotatably arranged on the outer wall of the bearing seat (24), the flexible chain ring crawler (23) is arranged around the driving shaft (28), the inducer (27), the driven wheel (26) and the three carrier rollers (25); the seat is characterized in that second motors (29) are arranged on two sides of the seat body, an output shaft of each second motor (29) drives one driving shaft (28) to rotate through a belt, and the first sliding groove (5) is formed in the crawler belt box (22).

3. The dual-form intelligent nursing wheelchair as claimed in claim 1, wherein the auxiliary balancing device (3) is disposed at the rear bottom center of the seat body, the auxiliary balancing device (3) comprises a connecting plate (31), two balancing auxiliary wheels (32) and two sets of second electric push rods (33), the two balancing auxiliary wheels (32) are disposed at two sides of one end of the connecting plate (31) through respective rotating shafts, the other end of the connecting plate (31) is slidably connected with the bottom of the seat body, two second sliding grooves (34) matched with the second electric push rods (33) are formed in the connecting plate (31), the second electric push rods (33) are fixed at the bottom of the seat body, and the end portions of the second electric push rods (33) are slidably connected with the second sliding grooves (34) through ball joints.

4. The dual-form intelligent nursing wheelchair as claimed in claim 2 or 3, wherein the seat body comprises a seat box (13), a backrest (14), a pedal (15), two sets of third electric push rods (16) and two sets of fourth electric push rods (17), two armrest boxes (18) are respectively arranged on two sides of the seat box (13), the bottom of the backrest (14) is hinged to the top of the back plate of the seat box (13), two sets of third electric push rods (16) are respectively fixed in the two armrest boxes (18), third sliding grooves (19) matched with the third electric push rods (16) are formed in two sides of the backrest (14), and the end parts of the push rods of the third electric push rods (16) are slidably connected with the third sliding grooves (19) through ball joints; two groups of fourth electric push rods (17) are respectively fixed at the front bottom of the seat plate box (13), a fourth sliding groove (110) matched with the fourth electric push rods (17) is formed in the bottom of the pedal plate (15), and the end parts of the push rods of the fourth electric push rods (17) are in sliding connection with the fourth sliding groove (110) through ball joints;

two first motors are fixed respectively the inner wall of seat case (13) both sides, seat case (13) rear is provided with connecting block (111), connecting block (111) rotate with two sets of bearing seats (24) and are connected, the controller control third electric putter (16) and fourth electric putter (17) action.

5. The dual-form intelligent nursing-type wheelchair as claimed in claim 4, wherein the manipulating module (6) comprises an "up" button (63), "down" button (64), an operating lever (61) and five limit switches disposed on one side of the console box (18), the operating lever (61) is rotatably disposed on one side in front of the console box (18), a control rod is disposed in the operating lever (61), an operating head (62) is disposed on the top of the control rod, four limit switches are disposed around the control rod at the front, rear, left and right sides of the operating lever (61), another limit switch is disposed under the control rod, and when the operating lever (61) is sequentially pulled forward, rear, left and right, the operating lever (61) sequentially touches the front, rear, left and right sides, The four limit switches are arranged on the right side; when the operating head (62) is pressed down, the bottom of the control rod touches the other limit switch;

the 'up' button (63), the 'down' button (64) and five limit switches are electrically connected with the controller, the controller controls the descending or ascending of the step track device by receiving signals of the 'up' button (63) and the 'down' button (64), the controller controls the wheelchair to advance, retreat, turn left and turn right by receiving signals of the four limit switches arranged around the control rod, and the controller controls the backrest (14) and the pedal (15) to be unfolded or folded by receiving signals of the limit switches arranged below the control rod.

6. The dual-form intelligent nursing wheelchair as claimed in claim 4, wherein a heating massage module and a temperature detection module are arranged in the armrest box (18), the seat box (13) and the backrest (14), and a light sensation heart rate test module is arranged on one side of the armrest box (18).

7. The dual-form intelligent nursing wheelchair as claimed in claim 4, wherein the front surface of the pedal plate (15) is further provided with a monitoring induction lamp (8).

8. The dual-form intelligent nursing wheelchair as claimed in claim 4, further comprising a wheelchair APP disposed in the mobile device, wherein a GPS positioner is disposed in the seat box (13), and the wheelchair APP is in communication connection with the controller and the GPS positioner through a wireless communication module.

9. The dual-form intelligent nursing wheelchair as claimed in claim 8, wherein a video call device is provided on the other side of the armrest box (18).

10. The dual-form intelligent nursing wheelchair as claimed in claim 1, further comprising a power module disposed at the bottom of the seat box (13) for supplying power to the entire wheelchair.

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