DE202018101986U1 - Intelligent reverse assistance drive - Google Patents

Abstract

An intelligent reverse assist drive comprising a universal wheel comprising a hollow hub with openings at two ends, an end cap attached to both ends of the hub, and an electrical drive mechanism provided in the hub for driving the hub for rotation, both ends of the electric motor Drive mechanism respectively through the end caps and are mounted on the end caps, and at least two rows of rollers, which are arranged along the circumferential direction of the hub, are movably mounted on the periphery of the hub, characterized in that it further comprises: a housing, wherein End of the housing is provided symmetrically with an arm which extends in the axial direction of the housing, and a mounting space between the two arms is formed, wherein the two ends of the drive mechanism are respectively connected to the arms after the universal wheel in the mounting space between entered the two arms; wherein another end of the housing is used to be hinged to the rear of a transport tool, and the universal wheel is in contact with the ground under the action of gravity; a battery provided in the housing; a controller housed in the housing is and is electrically connected to the battery and whose output is electrically connected to the electric drive mechanism.

Description

TECHNICAL AREA

The invention relates to an intelligent back-up drive which is suitable for a transport tool such as a wheelchair or a car.

STATE OF THE ART

Wheelchairs are an important tool for rehabilitation. Not only is it a travel tool for people with disabilities, but more importantly, it allows them to use physical means of wheelchair to participate in social activities. That's why people are demanding more and more of the flexibility of wheelchairs.

A conventional universal wheel is driven by an external force and must change the direction of the wheel to move. When the external force changes the direction of movement, a certain process for adjusting the direction of the wheel is required. Therefore, the use is inflexible. In addition, the direction of the load of the wheel deviates from the center of the wheel, so that an eccentric moment is generated on the wheel frame, which causes unsightly operation and deteriorates the life.

For this purpose, the utility model with the publication number discloses CN204352052U an electric wheelchair. As 1 1, the front wheel 2 of the electric wheelchair is an omnidirectional wheel comprising a hub 2-1, a driven gear 2-2, and two rows of "Y" -shaped protrusions integrally formed with the hub 2-1. Each row of "Y" shaped protrusions consists of several "Y" shaped protrusions 2-3 distributed on the same circumference. Two rows of "Y" shaped projections are offset from one another. The driven gear 2-2 is mounted in a hole formed on the "Y" -shaped projection 2-3, and a driven wheel 2-2 is respectively arranged between two adjacent Y-shaped protrusions 2. All "Y" shaped protrusions on one row of "Y" shaped protrusions are precisely aligned between the two "Y" shaped protrusions of the other row of "Y" shaped protrusions.

The universal wheel described above is used for the front or rear wheel of the wheelchair. Although the two rows of rollers arranged along the circumferential direction of the hub are staggered, the discontinuity at the "Y" -shaped projections supporting the rollers results in variations in the driving process of the wheelchair, i. this causes the bumps and reduces the comfort of the wheelchair.

CONTENTS OF THE PRESENT INVENTION

It is an object of the present invention to provide an intelligent back-up drive mounted on the back of a small transport tool such as a wheelchair or cart and having no effect on the comfort of the transport tool.

The technical solutions to the above technical problems are as follows:

• ein Gehäuse, wobei ein Ende des Gehäuses symmetrisch mit einem Arm versehen ist, der sich in der axialen Richtung des Gehäuses erstreckt, und ein Montageraum zwischen den zwei Armen gebildet ist, wobei die beiden Enden des Antriebsmechanismus jeweils mit den Armen verbunden sind, nachdem das Universalrad in den Montageraum zwischen den beiden Armen eingetreten ist; wobei ein anderes Ende des Gehäuses verwendet wird, um an der Rückseite eines Transportwerkzeugs angelenkt zu sein, und das Universalrad in Kontakt mit dem Boden unter der Wirkung der Schwerkraft steht;
• eine Batterie, die im Gehäuse vorgesehen ist;
• ein Steuergerät, das sich im Gehäuse befindet und elektrisch mit der Batterie verbunden ist und dessen Ausgang elektrisch mit dem elektrischen Antriebsmechanismus verbunden ist.

An intelligent reverse assist drive comprising a universal wheel comprising a hollow hub with openings at two ends, an end cap attached to both ends of the hub, and an electrical drive mechanism provided in the hub for driving the hub for rotation, both ends of the electric motor Drive mechanism respectively through the end caps and are mounted on the end caps, and at least two rows of rollers, which are arranged along the circumferential direction of the hub, are movably mounted on the periphery of the hub, characterized in that it further comprises:

• a housing, one end of the housing being symmetrically provided with an arm extending in the axial direction of the housing, and a mounting space formed between the two arms, the two ends of the drive mechanism being respectively connected to the arms, after the Universal wheel has entered the mounting space between the two arms; wherein another end of the housing is used to be hinged to the back of a transport tool, and the universal wheel is in contact with the ground under the action of gravity;
• a battery provided in the housing;
• a controller which is located in the housing and is electrically connected to the battery and whose output is electrically connected to the electric drive mechanism.

The advantage of the present invention is that, after installing the intelligent reverse assist drive of the present invention on a transport tool, the universal wheel need not be used as the front wheel of the transport tool, as in the case of the prior art transport tool. The intelligent reverse-assist drive, which is formed by the universal wheel and the housing and the like, is attached to the rear of the transport tool, and the intelligent reverse-assist drive makes contact with the ground. After this the intelligent reverse assist drive is started, auxiliary drive force is generated to assist the transportation tool in driving and thus reduce the burden on the occupants of the wheelchair by a manual mode. When supporting the transport tool by the inventive intelligent reverse-assist drive, no bumpy feel will occur during the travel of the transport tool and will not affect the comfort of the transport tool.

list of figures

• 1 Fig. 12 is a schematic view of a front wheel in an electric wheelchair according to the prior art;
• 2 Fig. 10 is a schematic view of an intelligent reverse assist drive of the present invention;
• 3 is an intelligent reverse assist drive of the present invention;
• 4 Fig. 10 is a schematic structural view of the present invention;
• 5 is a schematic perspective view of the present invention;
• 6 Fig. 12 is a schematic sectional view of the present invention after an end cap, a shaft and a brushless DC motor are concealed;
• 7 is a schematic view after a hub based on 6 is covered;
• 8th is a schematic view of the hub;
• 9 is a schematic view of a first holder;
• 10 is a schematic view of a second holder;
• 11 Fig. 12 is a schematic view of the relationship between the radius of curvature of a mounting seat and the radius of curvature of a roller;
• 12 Fig. 12 is a schematic view after the end cap, shaft and brushless DC motor are mounted in the hub;
• 13 Fig. 12 is a schematic view of a housing of the present invention;
• 14 is a schematic view after an upper housing based on 13 is covered;
• 15 Fig. 10 is a schematic view of a controller of the present invention;
• 16 Fig. 12 is a schematic view of a connector of the present invention;
• 17 Fig. 10 is a schematic view of the magnetic field lines passing through a Hall sensor when the Hall sensor and the magnetic steel are in the positional relationship of the prior art; and
• 18 is a schematic view of the magnetic field lines passing through a Hall sensor, when the Hall sensor and the magnetic steel in the positional context of the present application.

DETAILED DESCRIPTION

The present invention is used as an auxiliary drive tool for a small transportation tool such as a wheelchair or a cart, and is attached to the rear of these transportation tools. The present embodiment will be described in connection with a wheelchair and is specifically as follows:

As in 2 and 3 As shown, a back-assist intelligent drive A according to the invention comprises a universal wheel B, a housing, a battery, a control device and a connection device. After the rear-assisted intelligent drive A according to the present invention is attached to a rear pillar of the wheelchair via the connection means, the back-assisting intelligent drive A comes into contact with the ground. When the rear-assist intelligent drive A is started, it causes an auxiliary drive force to the wheelchair to assist the driving of the wheelchair and to reduce the burden on the occupant of the wheelchair by a manual operation mode. Each part and the relationship between them are given below in detail:

The universal wheel B comprises a hollow hub 10 with openings at both ends. As in 4 to 8th As shown, a radial flange 11 is provided on the peripheral surface of the hub 10. The number of flanges 11 is preferably two groups. A group may consist of a continuous annular flange or consist of a plurality of discrete flanges. In the present embodiment, each group preferably uses the annular flange 11. The flange 11 is provided with a plurality of axial mounting holes 11 a for fixing a bracket assembly 20.

In one or more embodiments, the distance between the end of the flange 11 near the axial end surface of the hub 10 and the axial end surface of the hub 10 is preferably greater than 1 mm to avoid a space 12 for assembling a portion of the support assembly. This avoids that after assembly of the support assembly 20 and the hub 10 the bracket assembly 20 protrudes to the axial outside of the axial end face of the hub. When an end cap is mounted to two ends of the hub 10, the influence of the retainer assembly 20 on the mounting of the end cap can be further avoided. A clearance space 13 between the two flanges 11 on the hub 10 forms a space which forms part of the support assembly.

An end cap 40 is fixed to each of the openings of both ends of the hub 10, and in the hub 10 there is provided an electric driving mechanism for driving the hub, wherein two ends of the electric driving mechanism pass through the end caps, respectively, and are supported on the end caps. As in 4 . 5 and 12 The electric drive mechanism includes a shaft 41, a brushless DC motor 42, a gear transmission 43. The inner wall surface of the hub 10 is provided with a sprocket. The end cap 40 is provided on the axial end surface of the hub 10, and a mounting hole is provided on the axial end surface of the hub 10. After the end cap 40 covers the axial end surface of the hub 10 and is directed upward, the end cap and the hub 10 are integrally fixed by screws. The brushless DC motor 42 is located within the hub 10. After one end of the shaft passes through the center of the DC brushless motor 42, two ends of the shaft 41 are supported on the end cap 40. The gear transmission is provided at an output 42 of the brushless DC motor. The gear gear 43 is engaged with the ring gear on the inner wall of the hub 10.

In the patent literature with the publication number CN204352052U For example, a Y-shaped projection 2-3 of the driven gear 2-2 is integrally formed with the hub 2-1, and these integrally formed structures increase the manufacturing difficulty and the manufacturing cost. As in the patent CN204352052U the distance between two adjacent Y-shaped projections is fixed, the assembly is possible only when two ends of the driven gear 2-2 are inserted in the assembly respectively provided in the Y-shaped protruding ends through holes and the output gear 2-2 of the deformation subject. This structure is not only difficult to install, but also leads to a deformation of the output gear, resulting in a reduced accuracy after installation. Therefore, the present invention provides another method of attaching the roll 30 as follows:

The hub 10 is movably provided at its periphery with at least two rows of rollers 30 arranged circumferentially of the hub, and the rollers 30 are supported by the bracket assembly 20 mounted on the periphery of the hub 10. As in 4 to 10 As shown, the bracket assembly 20 is attached to the flange 11. The bracket assembly 20 is provided with a mounting groove 20 a for receiving the flange 11. After the flange 11 is inserted into the mounting groove 20a, the bracket assembly 20 and the flange are integrally fixed by fixing members, and the fixing members are preferably screws.

As in 6 and 7 In one or more embodiments, the support assembly 20 is formed by discrete first support 21 and second support 22 which are assembled and integrally fixed. The first holder 21 and the second holder 22 are annular. The first holder 21 and the second holder 22 are each attached to the hub 10. The second bracket 22 and the mounting hole on the flange are connected by screws, so that the second bracket 22 and the flange 11 are integrally fixed.

Since the first holder 21 and the second holder 22, as in 6 and 7 are each mounted on the hub 10, the first bracket 21 is attached to the space 12, and the second bracket 22 is attached to the spacer space 13. For the first bracket 21 attached to the space 12, a structure of an integral circular ring or a structure of a circular ring formed by combining a plurality of arcuate brackets may be used. In the present embodiment, the first holder is preferably formed with an integral ring structure.

When attached to the spacer space 13 bracket 22, as in 6 and 7 2, there are two bottles 11 in the present embodiment. Consequently, it is necessary that the second bracket 21 is formed to consist of at least two arcuate frames. Thus, the second holder 21 can be mounted in the spacer space 13. Each sheet holder is preferably designed semicircular. Of course, the sheet holders can not be limited to semicircular as long as these sheet holders after the end-to-end connection to the second bracket 22 composed. For example, if there are three sheet holders, the sheet of each sheet holder is 120 degrees, and if there are two sheet holders, the sheet of one of the sheet holders is smaller than 180 degrees and the sheet of one sheet holder is larger than 180 degrees.

As in 6 and 7 are shown in the present embodiment, two groups of flanges 11 on the peripheral surface of the hub and the bracket assembly 20 is attached to the flange 11 in each group, respectively. One end of the sheet holder of each holder assembly 20 abuts against the flange 11 to which this holder assembly is attached, while another end of each holder assembly 20 is provided with an axial extension 22a, the axial extension 22a of the sheet holder of a group of holder assemblies and the axial extension of the sheet holder of a Group of support assemblies abut each other to form a mutual axial boundary. With such a structural construction, the second bracket 22 is mounted in the clearance space 13, and one end of the two second brackets 22 can be axially limited by the flange 11, and the other ends of the two second brackets 22 are mutually bounded. By the mutual limitation, the second bracket 22 after assembly on a better strength.

As in 4 to 10 are shown, on the peripheral surface of the support assembly 20 a plurality of parallel to the radial direction of the hub extending mounting seats evenly distributed. Each attachment seat is formed by assembling and fixing a discrete first attachment seat 23 and a discrete second attachment seat 24. One end of the first attachment seat 23 is located on the periphery of the first bracket 21, and one end of the second attachment seat 24 is on the periphery of the second bracket 22. The first attachment seat 23 is integrally formed with the first bracket 21 and the second attachment seat 24 is integral with the second holder 22 is formed. The first attachment seat 23 is fixed by screws to the second attachment seat 24, so that the first bracket and the second bracket 22 are integrally fixed.

As in 4 to 10 1, each of the first attachment seats 23 extends along a radial direction of the first bracket 21 to the axial end face of the first bracket 21 to form a first stage 25. The first stage 25 not only increases the strength of the first holder 21, and each first stage 25 preferably forms an annular step in an end-to-end connection state. When the first bracket 21 is assembled with the second bracket 22, and the axial end surface of the second bracket 22 and the axial end surface of the first stage 25 abut each other, the mounting groove 20a is between the axial end surface of the first bracket 21, the axial end surface of the second Bracket 22 and the first stage 25 included.

As in 4 to 10 shown, the universal wheel B rotates in the present invention in addition to the circumferential direction also in any other direction. Therefore, the universal wheel B can be acted upon with force in any direction. In the present invention, the bracket assembly 20 and the hub 10 are made separately and then assembled in one piece. Therefore, the strength of the bracket assembly 20 is reduced compared to the bracket assembly formed directly on the hub 10. In order to increase the strength of the support assembly 20, therefore, in one or more embodiments, a ribbed plate 22b is provided on the axial extension 22a. One end of the rib plate 22b is fixed to the second attachment seat 24, and a rib plate 22b is connected to the axial end surface of the second attachment seat 24. When the universal wheel B is subjected to non-circumferential force, these forces are counteracted by the support of the rib plate 22b, so that breakage of the second attachment seat 24 can be avoided.

The first attachment seat 23 and the second attachment seat 24 are preferably fixed by screws, at each of two ends of each first attachment seat 23, a first arcuate slot 23a is disposed on the same circumference and at each of two ends of each second attachment seat 23, a second arcuate slot 24a on the same Scope is arranged. The roller 30 is preferably formed in waist drum shape whose ends are arranged in the second arcuate slot. After the first attachment seat 23 is assembled and fixed with the second attachment seat 24, the end of the roller 30 is movably mounted in a round hole enclosed by the first arcuate slot 23a on the first attachment seat 23 and the second arcuate slot 24a on the second attachment seat 24.

In the above-mentioned mounting manner, when attaching the bracket assembly 20, first, the second bracket 22 and the flange 11 are fixed, the end of the roller 30 is placed in the second arcuate slot 24a, and then the first bracket 21 and the second bracket 22 are assembled. Finally, the first attachment seat and the second attachment seat are fixed again. Finally, the end of the roller 30 is movably mounted in the round hole enclosed by the first arcuate slot 23a on the first attachment seat 23 and the second arcuate slot 24a on the second attachment seat 24. In this way, a plurality of rollers 30 are arranged along the circumferential direction of the support assembly 20, wherein the roller 30 can move integrally with the hub 10, and the roller 30 can also rotate on the mounting seat itself, to adapt to a movement in any direction.

The arc of the first arcuate slot 23a and the second arcuate slot 24a may be 180 degrees. Nor can it be that the arc of the first arcuate slot 23a is less than 180 degrees, and the arc of the second arcuate slot 24a is less than 180 degrees. In short, the sum of the first arcuate slot 23a and the second arcuate slot 24a is 360 degrees, so that the round hole is formed by holding together the first arcuate slot 23a and the second arcuate slot 24a.

The end of the roller 30 is provided with a bearing 31. After the first attachment seat 23 and the second attachment seat 24 are assembled and fixed, the bearing 31 is mounted in the round hole enclosed by the first arcuate slot 23 a on the first attachment seat 23 and the second arcuate slot 24 a on the second attachment seat 24. By attaching the bearing 31 at both ends of the roller 30, the friction between the roller 30 and the mounting seat can be reduced, making the roller 30 more flexible during rotation.

Since there are two sets of flanges on the peripheral surface of the hub 11 in the present embodiment, the support assembly 11 is attached to each group of support assemblies 20, respectively. The rollers 30 located on the mounting seats of the two groups of mounting arrangements 20 are arranged offset from one another in a complementary manner. Two rollers 30 of these three rollers located on the same row of support assembly 20 are located at the bottom of an isosceles triangle. Here are three located at the mounting seats of the two groups of support assemblies 20 rollers 30 to each other complementarily staggered arranged rollers arranged in an isosceles triangle. Such a structure allows the three rollers which are in contact with the ground to always simultaneously contact the ground surface in a balanced manner, so that the universal wheel B always remains stable during operation. If three rollers 30 located at the attachment seats of the two groups of support assemblies 20 are arranged in a non-even triangle with respect to each other in a complementarily staggered manner, then the universal wheel B is unstable during operation. In particular, when the universal wheel B turns, only two rollers will be on the ground and the universal wheel B will be unbalanced. If the universal wheel B of the invention is applied to a wheelchair, it will also give the wheelchair slight bumps, so that the people in wheelchairs unpleasant fill.

As in 4 to 11 12, the outer upper ends of the first attachment seat 23 and the second attachment seat 24 are formed arcuately concentric with the hub 10, the radius of the arc is r, and the radius of the concentric circle of the arcuate surface of the waist drum 30 and the hub is R1 and Value of r / R1 is in the range of 0.96 to 0.98. When the value of R / R1 is set in the range of 0.96 to 0.98, the stability, life of the universal wheel B is best. If the value is below this numerical range, the bracket assembly and the mounting seat have a poor supporting force for the rollers 30, the rollers 30 themselves are subjected to a relatively large force, which affects the life of the roller; if the value is over this numerical range, while the bracket assembly and the mounting seat have a good supporting force for the rollers 30, the ability of the universal wheel B to bypass the obstacle is reduced. The bracket assembly 20 and the mounting seat will create a resistance.

In the universal wheel B having the above-mentioned structure, the bracket assembly 20 and the hub 10 are made separately, which is advantageous for the reduction of manufacturing difficulties. The hub 10, the bracket assembly 20 and the mounting seat can be made with different materials, which is advantageous for reducing the manufacturing cost and facilitates the accuracy control. In assembly, the end of the roller 30 is placed in the first arcuate slot 23a. After the second attachment seat 24 is assembled and fixed with the first attachment seat 23, the end of the roller 30 is movably mounted in the round hole enclosed by the first arcuate slot 23a on the first attachment seat 23 and the second arcuate slot 24a on the second attachment seat 24. Such a structure not only allows easier assembly of the roller 30, but also avoids the deformation during assembly, which ensures the accuracy after assembly. The advantage of the universal wheel B with this structure is therefore that the product has no eccentric moment during use, is more stable and has a long life.

As in 2 . 3 . 13 and 14 As shown, one end of the housing 50 is symmetrically provided with an arm 51 extending in the axial direction of the housing. After the universal wheel B has entered a mounting space 52 formed between two arms 51, the two ends of the drive mechanism are respectively connected to the arms 51; the arm 51 comprises a Grundköprer and provided on the body support. The shaft 41 of the electric drive mechanism is fixedly connected to the carrier. Another end of the housing is used to be hinged to the rear of the wheelchair and the universal wheel B is in contact with the ground under the action of gravity.

As in 14 1, a receiving space 53 is provided in the housing 50. The battery 54 is mounted in the receiving space 53; The housing 50 consists of two parts, an upper housing and a lower housing. And between the upper case and the lower case, a cavity is formed. After the upper case and the lower case are integrally fixed, a shrinking space 53 for mounting the battery 54 is formed between the upper case and the lower case. Thus, the battery 54 is integrally assembled with the housing 50 and the universal wheel B.

If the intelligent reverse assist drive of the present invention is not needed in some small environments, such as indoors, or after the occupant does not need to use the intelligent reverse assist drive, it is necessary to disconnect the intelligent reverse assist drive from the wheelchair. Since the battery 54 is mounted in the housing 50, the intelligent power assist drive detached from the wheelchair can charge the battery 54, and the battery does not need to be attached to the wheelchair, which helps to reduce the weight of the wheelchair and to allow the occupant to do so to relieve the wheelchair manually. Therefore, the advantage of assembling the battery 54 to the housing 50 and the universal wheel B is that after disconnecting the intelligent back-assist drive from the wheelchair, the intelligent reverse-assist drive may be charged and the occupant relieved of manually powering the wheelchair.

As in 14 2, the controller 60 is located in the housing 50 and is electrically connected to the battery 54. The output of the controller 60 is electrically connected to the electric drive mechanism. The controller 60 controls based on the vehicle speed whether the electric drive mechanism can obtain the required operating current of the wheelchair to provide a support driving force for the running wheelchair.

A plurality of magnetic steels (not shown in the figure) are disposed on the inner wall surface of the end cap 40. These magnetic steels are evenly distributed on the same circumference of the inner wall surface of the end cap 40. The position of each magnetic steel varies as the end cap rotates. The magnetic flux emitted by these magnetic steels is detected by the control unit and used to calculate the speed of the universal wheel B.

As in 15 As shown, the controller 60 includes a DC power supply 61, a hall detection module 62 mounted on an electric drive mechanism, a processor 63, and a driver 64. The DC power supply 61 converts the input voltage of the battery 54 to various operating voltages. The operating voltages are respectively 12V, 5V, 3.3V and the like. These voltages are available when the Hall detection module 62, the processor 63 and the drive 64 are operating.

When the wheelchair is at rest, the occupant or the person pushing the wheelchair gives the wheelchair a manual force to make the wheelchair run. When the traveling speed of the wheelchair is given manually, the universal wheel B is rotated with the ground under the frictional force. The hall detection module 62 detects a plurality of magnetic steels on the end cap 40 of the rotating universal wheel B. For example, 18 magnetic steels are uniformly distributed on the end cap 40. When a magnetic steel is detected, the Hall detection module 62 generates a waveform. The hall detection module 62 shapes the waveform and outputs it to the processor 63.

The hall detection module 62 includes a Hall sensor that detects the direction of the magnetic field of the magnetic steel to output various waveform signals to determine whether the universal wheel B is rotating forward or backward. Thus, the Hall sensor not only detects the magnetic steel. The direction of movement of the magnetic steel is also detected, so that the processor can determine whether the universal wheel B is in a state of forward rotation or reverse rotation, and thus can determine whether the wheelchair is in a forward or reverse state. The Hall sensor is mounted on the stator of the brushless DC motor. The Hall sensor is all stationary relative to brushless DC motor 42 and hub 10 and end cap 40, and thus can detect the magnetic bars evenly distributed on end cap 40. The hall detection module 62 further includes a shaping circuit that shapes the waveform detected by the hall sensor and outputs it to the processor 63.

In Hall sensors, the direction of the magnetic field of the magnetic steel for outputting various waveform signals is detected to determine whether the universal wheel B rotates forward or backward when the Hall sensor on the stator The relationship between the Hall sensor and the magnetic steel is as follows (commonly used mounting method): the surface enclosed by the length and height of the Hall sensor is perpendicular to the magnetic field lines of the magnetic steel (as in FIG 17 1), the Hall sensor detects that the waveform output during the forward movement of the magnetic steel (in the direction of forward rotation of the universal wheel B) coincides with the waveform output during the backward movement of the magnetic steel (in the direction of the reverse rotation of the universal wheel B). Therefore, this installation method can not judge whether each magnetic steel moves in the forward direction or the reverse direction. In the present embodiment, the relationship between the Hall sensor mounted on the stator and the magnetic steel is as follows, that a surface enclosed by the width and the height of the Hall sensor is perpendicular to the magnetic field lines of the magnetic steel (as in FIG 18 shown). By means of this attachment method, it is possible that the waveform output during the forward movement of the magnetic steel does not coincide with the waveform output during the backward movement of the magnetic steel when the hall sensor detects whether the magnetic steel on the end cap 40 is moving forward or backward. Therefore, after the processor 63 obtains such a waveform, it can immediately determine whether the current universal wheel B is in a forward or reverse rotational state and further determine the direction of movement of the wheelchair. Depending on the direction of travel of the wheelchair, the processor controls the electric drive mechanism for forward rotation of the universal wheel B to resist the power of the wheelchair retraction when the current wheelchair is in a backward condition. In general, it is inconvenient for the person on the wheelchair to move. Therefore, safety for the wheelchair is of utmost importance. The above-mentioned manner that the force of reaction is generated in detecting the wheelchair retraction to allow the universal wheel B to withstand the wheelchair retraction increases the safety of the wheelchair on the one hand, and the intelligence of the wheelchair on the other hand.

The processor 63 is a microcontroller chip having a microprocessor, a program memory, a data memory, a timer, a universal IO port and a programmable PWM encoder, etc., and is connected to an external device such as an electric motor via a peripheral circuit. The processor supports operation of the drive system upon completion of programming coordination.

The processor 63 calculates the rotational speed of the universal wheel B under the frictional force due to the detection signal provided from the hall detection module 62 to obtain the current traveling speed of the wheelchair, and compares the rotational speed with the threshold set in the processor. Based on the comparison result, a command signal for providing the required operating current is output to the electric drive mechanism. To ensure safety when the wheelchair is at rest, even when the intelligent rear-assist drive is in an activated state, it does not start immediately, but the person who needs to drive or push the wheelchair will manually force the wheelchair to to drive the wheelchair. In response, it is determined whether the intelligent reverse assist drive is started, and the detection of the traveling speed of the wheelchair is performed by the hall detection module 62 and the processor 63. Since the hall detection module 62 detects the magnetic steel, the processor 63 can calculate the current speed of the general-purpose wheel B based on the detected number of the waveform (or pulse waveform) so that the traveling speed of the wheelchair can be obtained. The calculated travel speed of the universal wheel 8 is compared with the threshold set in the processor. If the comparison result indicates that the universal wheel speed B is greater than the threshold set in the processor, the processor sends a command signal to provide the required operating current to the electric drive mechanism so that the intelligent reverse assist drive is started to drive the occupant to help. Conversely, you do not need to start the intelligent reverse support drive.

For example, when a wheelchair is pushed by a hand in a stationary state, the wheelchair reaches a traveling speed of 2.5 km / h, and the magnetic steel on the rotating end cap is detected by the hall sensor. The processor 63, upon receiving the detection signal, detects that the universal wheel is rotating at a speed of 2.5 km / h to reach the current wheelchair driving speed of 2.5 km / h. The processor 63 compares the vehicle speed with the threshold value set in the processor 63, the threshold being 2 km / h. When the speed of the universal wheel B is greater than the threshold set in the processor, the processor 63 sends a command signal to provide the required operating current to the electric drive mechanism so that the intelligent reverse assist drive is started to assist the occupant in driving.

When a travel speed manually given to the transportation tool is the command signal satisfies that a processor 63 provides the electric drive mechanism with a required operating current, the processor selects one of a plurality of drive speeds selected in the processor, selects to drive the wheelchair, in response to the current vehicle speed. For example, when the wheelchair is traveling at a speed of 2.5 km / h, the processor 63 selects the travel speed of 4 km / h to assist the wheelchair when driving; when the current wheelchair travel speed is 5 km / h, the processor 63 selects the travel speed of 8 km / h to assist the occupant in driving. Different driving speeds allow it to meet the different needs of the driver and also increase the intelligence of the intelligent reverse assistance drive.

When, as a comparison result, the rotational speed is smaller than the threshold value set in the processor 63, the processor 63 outputs a command signal for shutting off the required operating current to the electric drive mechanism. For example, if the current wheelchair travel speed is less than 2.5 km / h, the processor 63 sends a command signal to shut off the required operating current to the electric drive mechanism. The electric drive mechanism can not obtain the drive current, and the electric drive mechanism can not operate autonomously.

The driver 64 receives the command signal from the processor 63 and converts the DC power output from the DC power supply into a precisely controlled non-sinusoidal AC power provided to the electric drive mechanism. The non-sinusoidal alternating current is therefore a square wave.

The controller 60 also includes a control switch for controlling the turning on / off of the power supply. The control switch is a button switch or the control switch is a remote control. The control switch is electrically connected to the processor 63. The control switch is used to send at least one command signal for limiting the highest drive speed to the processor 63. Preferably, the control switch may transmit three command signals, the first of which is a switching signal of the power source, the second is a first maximum speed limit signal, and the third is a second maximum speed limit signal. The control switch has three pins, each connected to three different input pins of the controller. For example, when the control switch is in the position of the first maximum speed limit, the control switch sends a command signal with a maximum travel speed of 5 km / h to the processor 63, and when the control switch is in the position of the second maximum speed limit, the control switch sends a command signal In this way, the person in the wheelchair seat controls the selection of the control switch so that the processor 63 receives the corresponding control command and controls the magnitude of the output current to control wheelchair speed.

As in 2 and 16 Also shown is a connection means 70 connected to a rear upright rod for attaching a rear wheel to the transport tool. The other end of the housing 50 is hinged to the connector 70 and the rear universal wheel is in contact with the floor. The connection device 70 is a retractable connection device. This connecting device 70 comprises a connecting rod, at the two ends of a collet 71 is provided. The collet 71 is for clamping on the rear upright pole of the wheelchair, and the center of the connecting rod is provided. A hinge 72 is provided for connecting the housing 50. The connecting rod has a first connecting rod 73 and a second connecting rod 74. One end of the first connecting rod 73 is provided with an axial fixing hole, and on the peripheral surface of the first connecting rod 73, a retractable locking device 75 is provided, one end of which inserted into the mounting hole, one end of the second connecting rod 74 is inserted into the mounting hole and through the Retractable locking device 75 is the length, over which the second connecting rod 74 is inserted into the mounting hole, locked. The retractable locking device 75 preferably uses screws. With such a structure, the length of the connecting rod can be adjusted to accommodate the wheelchairs of different width, and the assembly and disassembly are also very simple. The surface of the collet 71 is provided with a damper disc to prevent the collet 71 from pinching the rear upright pole of the wheelchair. The collet 71 can also be replaced by a tire.

The present invention is not limited to the above embodiments. For example, the end of the roller 30 is disposed in the first arcuate slot 23a. After the second attachment seat 24 is assembled and fixed with the first attachment seat 23, the end of the roller 30 is movable into one through the first arcuate slot 23a mounted on the first mounting seat 23 and the second arcuate slot 24a on the second mounting seat 24 enclosed round hole. In the above-mentioned mounting manner, when attaching the bracket assembly 20, first the first bracket 21 and the flange 11 are fixed, the end of the roller 30 is placed in the first arcuate slot 23a, and then the second bracket 22 and the first bracket 21 are assembled. Finally, the first attachment seat and the second attachment seat are fixed again. Finally, the end of the roller 30 is movably mounted in the round hole enclosed by the first arcuate slot 23a on the first attachment seat 23 and the second arcuate slot 24a on the second attachment seat 24.

An arcuate guard edge 21 a that surrounds the outside of the roller 30 is disposed between two adjacent first attachment seats 23. This protective edge 21 a is formed integrally with the first holder 21 and the first attachment seat 23. Between the roller 30 and the protective edge a game is provided.

LIST OF REFERENCE NUMBERS

81

height

82

width

83

length

91

magnetic field lines are perpendicular to the present surface

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• CN 204352052 U [0004, 0015]

Claims (10)

An intelligent reverse assist drive comprising a universal wheel comprising a hollow hub with openings at two ends, an end cap attached to both ends of the hub, and an electrical drive mechanism provided in the hub for driving the hub for rotation, both ends of the electric motor Drive mechanism respectively through the end caps and are mounted on the end caps, and at least two rows of rollers, which are arranged along the circumferential direction of the hub, are movably mounted on the periphery of the hub, characterized in that it further comprises: a housing, wherein End of the housing is provided symmetrically with an arm which extends in the axial direction of the housing, and a mounting space between the two arms is formed, wherein the two ends of the drive mechanism are respectively connected to the arms after the universal wheel in the mounting space between entered the two arms; wherein another end of the housing is used to be hinged to the back of a transport tool, and the universal wheel is in contact with the ground under the action of gravity; a battery provided in the housing; a controller which is located in the housing and is electrically connected to the battery and whose output is electrically connected to the electric drive mechanism. Intelligent reverse support drive behind Claim 1 characterized in that the controller controls in dependence on the traveling speed of the transport tool whether the electric drive mechanism can obtain the required operating current to provide the traveling transport tool with an auxiliary drive force. Intelligent reverse support drive behind Claim 2 characterized in that a plurality of magnetic steels are provided on the inner wall surface of the end cap; the controller comprises: a DC power supply that converts the input voltage of the battery to different operating voltages; a hall detection module attached to the electric drive mechanism, wherein the universal wheel rotates with the ground under frictional force when the speed of the transfer tool is manually set, and the hall detection module detects the plurality of magnetic steel on the end cap of the rotating universal wheel; a processor which, in response to a detection signal provided by the Hall detection module, calculates a speed of the universal wheel under the friction force to obtain an actual travel speed of the transport tool, and compares the speed with a threshold set in the processor, the processor sending a command signal provide the electrical drive mechanism with the required operating current if the comparison result is that the speed is greater than or equal to the threshold set in the processor; a drive that receives the command signal from the processor and converts the DC power output from the DC power source into a non-sinusoidal AC power for the electric drive mechanism. Intelligent reverse support drive behind Claim 3 characterized in that, when the comparison result is that the speed is less than the threshold set in the processor, the processor sends a command signal to disable the required operating current to the electric drive mechanism. Intelligent reverse support drive behind Claim 3 characterized in that the hall detection module comprises a Hall sensor detecting the direction of magnetic field of the magnetic steel for outputting various waveform signals to determine whether the universal wheel B is rotating forward or backward. Intelligent reverse support drive behind Claim 5 , characterized in that a surface enclosed by the width and the height of the Hall sensor is perpendicular to the magnetic field lines of the magnetic steel. Intelligent reverse support drive behind Claim 4 characterized in that, when a travel speed manually given to the transport tool satisfies the command signal that a processor provides the electric drive mechanism with a required operating current, the processor selects one of a plurality of drive speeds that are preset in the processor depending on the current travel speed , selects to power the transport tool. Intelligent reverse support drive behind Claim 4 characterized in that the controller further comprises a control switch, wherein the control switch is electrically connected to the processor and the control switch is used to send at least one command signal for limiting the highest drive speed to the processor 63. Intelligent reverse support drive behind Claim 8 , characterized in that the Control switch is a button switch or the control switch is a remote control. Intelligent reverse support drive behind Claim 1 , characterized by further comprising connecting means connected to a rear upright bar for attaching a rear wheel to the transport tool, the other end of the housing being hinged to the connecting means, and the universal wheel in contact with the floor.

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