CN2203140Y - 可全方位行走的电脑轮椅 - Google Patents

可全方位行走的电脑轮椅 Download PDF

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Publication number
CN2203140Y
CN2203140Y CN94242035U CN94242035U CN2203140Y CN 2203140 Y CN2203140 Y CN 2203140Y CN 94242035 U CN94242035 U CN 94242035U CN 94242035 U CN94242035 U CN 94242035U CN 2203140 Y CN2203140 Y CN 2203140Y
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Prior art keywords
wheelchair
wheel
chair wheel
support
chair
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Expired - Lifetime
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CN94242035U
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English (en)
Inventor
黄善钧
郑军
陈春义
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Fujie Electromechanical Tech. Co., Ltd., Fujian Prov.
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Fujian Star Computer Co ltd
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Priority to CN94242035U priority Critical patent/CN2203140Y/zh
Application filed by Fujian Star Computer Co ltd filed Critical Fujian Star Computer Co ltd
Priority to AU26097/95A priority patent/AU685952B2/en
Priority to JP50144296A priority patent/JP3244706B2/ja
Priority to KR1019960707099A priority patent/KR0181393B1/ko
Priority to BR9508361A priority patent/BR9508361A/pt
Priority to CA002192566A priority patent/CA2192566A1/en
Priority to PCT/CN1995/000047 priority patent/WO1995034267A1/zh
Priority to MX9606457A priority patent/MX9606457A/es
Priority to EP95920725A priority patent/EP0768076A4/en
Application granted granted Critical
Publication of CN2203140Y publication Critical patent/CN2203140Y/zh
Priority to JP2000223159A priority patent/JP2001079042A/ja
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
    • B60Y2200/84—Wheelchairs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S297/00—Chairs and seats
    • Y10S297/04—Wheelchair

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Rehabilitation Tools (AREA)
  • Body Structure For Vehicles (AREA)

Abstract

一种可全方位行走的电脑轮椅，其特点是椅轮轮 缘上均匀分布有若干个可自由转动的滚子，该滚子轴 线均与椅轮轴线成一定夹角，轮椅的行走通过推动操 纵杆前后、左右、旋转方向和位移量，由主控电脑分别 控制四台伺服电机，经过减速器驱动四个椅轮的转速 和转向，即可使轮椅沿平地作全方位行走。本实用新 型的轮椅操作灵活方便，克服了现有轮椅只能作纵向 移动，回转半径大，使用不方便、不灵活等缺点。同 时，本产品在室内小空间和狭窄场地行驶尤为灵活与 方便。

Description

本实用新型属于电动轮椅类，特别是一种可全方位行走的电脑轮椅。
众所周知，现有轮椅基本上有两种类型：一种是手推式轮椅，这种轮椅的行走主要是通过使用者两支手推动左右两个轮子实现的，费力；一种是在轮椅上加装动力装置，这种电动轮椅由于克服了手推式轮椅驱动费力的缺点，而得到使用者欢迎。但是无论是手推式轮椅还是电动式轮椅，由于地面上作用于椅轮的摩擦力只能作用在轮体平面内，且不能与轮体形成一个角度，因此，现有轮椅只能沿其导向轮方向作前后平移运动，既不能横向运动，也不能斜向运动。
本实用新型目的在于提供一种可全方位行走的电脑轮椅，它可以沿着平地作全方位（纵向、横向和旋转三个向量和三向量叠加）运动。
按照本实用新型目的，设计人提出的解决方案是：
一、改进现有技术的椅轮结构，本实用新型的椅轮设有4个，每个椅轮均由若干个呈腰鼓形的滚子组成，这些滚子均匀地分布在椅轮的轮缘上，每个滚子轴线均匀与椅轮轴线成α角度相交叉。该α角度大于0°小于90°，每个滚子可以自由转动，如图3所示。当椅轮与地面接触而受到外力矩作用时，通过四个椅轮上的滚子受到来自地面摩擦力合力的作用，椅轮就能够在不转动车轮轴心线的条件下实现椅轮的全方位移动。
二、通过在轮椅上设置电脑控制装置和操纵杆的全方位摆动，即可控制轮椅的行走方向与速度。
与现有技术相比，本实用新型结构科学合理，使用者只要控制操纵杆的摆动方向，即可实现轮椅的纵向（前后），横向（左右），旋转方向的全方位移动，轻巧、灵活、方便，克服了现有轮椅只能作纵向（前后）移动，回转半径大，使用不方便、不灵活等缺点。同时，本实用新型在室内小空间和狭窄场地行驶尤为灵活与方便，有极大的使用价值。
下面通过实施例结合附图进行进一步描述本实用新型。
图1是本实用新型结构示意图
图2是本实用新型结构总装图
图3是本实用新型椅轮结构示图
图4是本实用新型电脑控制装置原理图
参照附图1，2，本实用新型结构包括座椅（1），椅座（11），扶手（2），脚踏板（3），保险杆（4），椅轮（5），机座（7），外壳（8），控制装置（6），主控盒（64）等构件组成。其特征在于：
上述的椅轮设置有4只，每个椅轮（5）均有8个呈腰鼓形滚子（51）组成，滚子（51）沿着轮缘均匀分布，滚子（51）轴线均与轮轴线之间有45°夹角，如图3所示。椅轮（5）通过螺栓连接固定在机座（7）下面，上述椅座（11）支承在机座（7）上。
上述的控制装置（6）包括操纵杆（61），蓄电池和充电器（62），驱动电机、减速器和光电码盘（63），主控盒（64），主控盒（64）安装有由控制电路组成的线路板和电器元件，主控盒（64）安装在椅座（11）的下面，蓄电池和充电器（62）安装在机座（7）上，驱动电机、减速器和光电码盘（63）安装在椅轮（5）的内侧，操纵杆（61）安装有检测三个自由度（纵向、横向、旋转）的三个电位器。操纵杆（61）安装在扶手（2）上。整个控制装置（6）的工作（控制）原理如图4所示。通过操纵杆（61）摆动使电位器滑动触点移动，转换为电压变化，经4046的压控振荡器VCO产生与该电压成线性关系的频率。80C31CPU通过由82C53组成的三路频率计检测出操纵杆（61）三个向量的大小与方向，进而算得四台电机（63）的转速和转向。然后CPU通过对82C53组成的转速发生器的编程产生与电机转速相对应的频率和四个光电码盘的反馈信号一起送入稳速电路。稳速电路是以4046的鉴相器电路为核心组成频率比较器，根据设定的转速和实际转速决定加电或是不加电。最后通过由IRF150和IRF9150功率场效应管组成的H型驱动电路来完成对电机的稳速控制，从而实现使用者只要通过操纵杆摆动即可控制轮椅运行方向和速度的变化。使用时，使用者只要推动操纵杆（61）的纵向、横向、旋转等方向和位移量，由主控电脑分别控制四台伺服电机，经过减速器驱动四个椅轮的转向和转速，即可使轮椅沿着使用者需要方向作全方位行走，即灵活又方便使用。

Claims (2)

1、一种全方位运行的电脑轮椅，包括座椅(1)，椅座(11)，扶手(2)，脚踏板(3)，保险杆(4)，椅轮(5)，机座(7)，外壳(8)控制装置(6)，其特征在于椅轮(5)设有4个，每个椅轮(5)均有若干个可自由转动的腰鼓形滚子(51)组成，滚子(51)沿椅轮(5)的轮缘均匀分布，其轴线与椅轮轴线之间夹角0＜α＜90°，上述控制装置(6)包括连接有三个电位器的操纵杆(61)，蓄电池和充电器(62)，驱动电机、减速器和光电码盘(63)，主控盒(64)等，主控盒(64)内安装有由压控振荡器VCO、CPU，三路频率计、转速发生器、稳速电路，H型驱动电路组成控制电路的线路板和电器元件，主控盒(64)，安装在椅座(11)的下面，蓄电池和电位器(62)安装在机座(7)上，驱动电机、减速器和光电码盘(63)安装在四个椅轮(5)内侧，操纵杆(61)安装在扶手(2)上，椅座(11)支承在机座(7)上，4个椅轮(5)通过连接件固定在机座(63)下面。
2、根据权利要求1所述的电脑轮椅，其特征在于每个椅轮（5）均有8个滚子（51）组成，每个滚子（51）轴线与椅轮轴线之间夹角α等于45度角。
CN94242035U 1994-06-11 1994-06-11 可全方位行走的电脑轮椅 Expired - Lifetime CN2203140Y (zh)

Priority Applications (10)

Application Number Priority Date Filing Date Title
CN94242035U CN2203140Y (zh) 1994-06-11 1994-06-11 可全方位行走的电脑轮椅
JP50144296A JP3244706B2 (ja) 1994-06-11 1995-06-08 モータ式車椅子
KR1019960707099A KR0181393B1 (ko) 1994-06-11 1995-06-08 모터구동식 휘일체어
BR9508361A BR9508361A (pt) 1994-06-11 1995-06-08 Cadeira de rodas motorizada
AU26097/95A AU685952B2 (en) 1994-06-11 1995-06-08 Motorized wheelchair
CA002192566A CA2192566A1 (en) 1994-06-11 1995-06-08 Motorized wheelchair
PCT/CN1995/000047 WO1995034267A1 (fr) 1994-06-11 1995-06-08 Fauteuil roulant motorise
MX9606457A MX9606457A (es) 1994-06-11 1995-06-08 Silla de ruedas motorizada.
EP95920725A EP0768076A4 (en) 1994-06-11 1995-06-08 MOTORPOWERED WHEELCHAIR
JP2000223159A JP2001079042A (ja) 1994-06-11 2000-07-24 モータ式車椅子

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN94242035U CN2203140Y (zh) 1994-06-11 1994-06-11 可全方位行走的电脑轮椅

Publications (1)

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CN2203140Y true CN2203140Y (zh) 1995-07-12

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CN94242035U Expired - Lifetime CN2203140Y (zh) 1994-06-11 1994-06-11 可全方位行走的电脑轮椅

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EP (1) EP0768076A4 (zh)
JP (2) JP3244706B2 (zh)
KR (1) KR0181393B1 (zh)
CN (1) CN2203140Y (zh)
AU (1) AU685952B2 (zh)
BR (1) BR9508361A (zh)
CA (1) CA2192566A1 (zh)
MX (1) MX9606457A (zh)
WO (1) WO1995034267A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102481132A (zh) * 2009-09-08 2012-05-30 皇家飞利浦电子股份有限公司 双向移动组件
CN104887414A (zh) * 2015-06-03 2015-09-09 北京理工大学 具有重心调整的全方位运动轮椅

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JP3682248B2 (ja) 2000-08-22 2005-08-10 関東自動車工業株式会社 回転体付き車輪
JP4583834B2 (ja) * 2004-08-09 2010-11-17 トヨタ自動車株式会社 全方向移動車
PT103354B (pt) * 2005-09-21 2007-07-12 Univ Do Minho Sistema de controlo para cadeiras de rodas omnidireccionais
DE102008019976B4 (de) * 2008-04-21 2012-04-26 Kuka Roboter Gmbh Omnidirektional-Rad und Verfahren zur Montage von Rollkörpern eines Omnidirektional-Rades, sowie omnidirektional bewegliches Fahrwerk und dessen Verwendung
JP2009261504A (ja) * 2008-04-23 2009-11-12 Univ Kansai 車両及び車両の走行方向の変更方法
EP2248501B1 (en) * 2009-05-07 2014-02-19 Force Fiction I Halmstad AB Power assisting system and method
JP5398445B2 (ja) * 2009-09-18 2014-01-29 本田技研工業株式会社 全方向移動車両
KR101012719B1 (ko) * 2010-01-15 2011-02-09 (주)엔티렉스 메카넘 전동 휠체어
EP2547569B1 (de) * 2010-03-15 2018-07-25 Fresenius Medical Care Deutschland GmbH Verwendung einer mobilen vorrichtung, medizinisches gerät und bremsvorrichtung
JP5127003B2 (ja) * 2011-04-26 2013-01-23 公立大学法人高知工科大学 全方向移動機能を持つ歩行訓練機
CZ305564B6 (cs) * 2013-11-07 2015-12-09 MORAVSKĂť VĂťZKUM, s.r.o. Robotické mobilní modifikovatelné lůžko
CN105916702B (zh) * 2015-04-27 2018-07-03 深圳市大疆创新科技有限公司 遥控车辆
CN104960416B (zh) * 2015-05-25 2017-08-11 浙江美科斯叉车有限公司 一种全方位移动平台动力传输装置
JP5871219B1 (ja) * 2015-06-25 2016-03-01 徳三 高橋 スポーツ競技用電動車椅子
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102481132A (zh) * 2009-09-08 2012-05-30 皇家飞利浦电子股份有限公司 双向移动组件
CN102481132B (zh) * 2009-09-08 2015-02-25 皇家飞利浦电子股份有限公司 双向移动组件
CN104887414A (zh) * 2015-06-03 2015-09-09 北京理工大学 具有重心调整的全方位运动轮椅

Also Published As

Publication number Publication date
KR970703742A (ko) 1997-08-09
CA2192566A1 (en) 1995-12-21
EP0768076A1 (en) 1997-04-16
JP3244706B2 (ja) 2002-01-07
JPH10500049A (ja) 1998-01-06
MX9606457A (es) 1997-12-31
JP2001079042A (ja) 2001-03-27
EP0768076A4 (en) 1998-04-15
AU2609795A (en) 1996-01-05
AU685952B2 (en) 1998-01-29
BR9508361A (pt) 1997-11-04
KR0181393B1 (ko) 1999-04-01
WO1995034267A1 (fr) 1995-12-21

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