CN104887414B - Omni-directionally movable wheelchair with gravity center adjusting function - Google Patents
Omni-directionally movable wheelchair with gravity center adjusting function Download PDFInfo
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- CN104887414B CN104887414B CN201510300278.5A CN201510300278A CN104887414B CN 104887414 B CN104887414 B CN 104887414B CN 201510300278 A CN201510300278 A CN 201510300278A CN 104887414 B CN104887414 B CN 104887414B
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- wheelchair
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Abstract
The invention discloses an omni-directionally movable wheelchair with a gravity center adjusting function. The omni-directionally movable wheelchair comprises a chair, an electric push rod, an omni-directionally movable platform, inclination angle measuring devices, a control unit and a power source. The chair is movably connected with the omni-directionally movable platform, two ends of the electric push rod are respectively hinged to the bottom surface of the chair and the omni-directionally movable platform, inclination angles between planes of the chair and the ground can be sensed by the inclination angle measuring devices, angle values can be transmitted to the control unit by the inclination angle measuring devices, the electric push rod can be extended and retracted under the control of the control unit so that the planes of the chair can keep parallel to the horizontal plane, and the electric push rod, the omni-directionally movable platform, the inclination angle measuring devices and the control unit are powered by the power source. The omni-directionally movable wheelchair has the advantages that the wheelchair can move omni-directionally and has an automatic balance adjusting function; the omni-directionally movable wheelchair with characteristics of zero rotation radius and flexible and free movement is applicable to environments with narrow spaces, and accordingly the action capacity of users and the comfort can be improved.
Description
Technical field
Invention is related to a kind of electric wheelchair, and in particular to a kind of electric wheelchair that can adapt to little space and domatic environment.
Background technology
With growth in the living standard and the acceleration of aging population, electric wheelchair has become the elderly and lower limb disability disease
The indispensable walking-replacing tool of people.Existing electric wheelchair is typically supported using above two steamboats on market, behind two it is big
The structure of wheel drive, radius of turn is big, be not suitable for being used in narrow spaces such as elevators, additionally, all-around mobile wheelchair by
It is of increased attention in its flexibility.Wherein, omni-directional moving mechanism is the basis of omnibearing movable wheelchair.Occur
More omni-directional moving mechanism is typically achieved using special wheel, and this wheel can be another in a direction active movement
An outer direction passive movement, common special train mainly has orthogonal wheel, ball wheel, Mecanum wheel, continuous switching wheel etc..
Orthogonal wheel two wheels in motion process are alternately to contact ground, and this results in each wheel in motion process
The pressure change that son is born is big, so as to the frictional force for affecting to be contacted with ground, have impact on the velocity of rotation of wheel, reduces electricity
The kinematic accuracy of wheelchair.Because the use of the wheelchair driving force of ball wheel being caused by the frictional force of roller and wheel, wheel
The driving force and speed of son is restricted, simultaneously as wheel frictional force in rolling process is easily subject to the shadow of extraneous factor
Ring, such as the dust of absorption, therefore water etc., wheel can skid.Mecanum wheel is in all-around mobile wheelchair using the widest
It is general.The all-directional mobile wheel chair tool being made up of Mecanum wheel has and does not need independent steering driving mechanism, and control is simple, reaction
Rapidly, the advantages of flexible operation, but due to there is gap between roller, the vibration or skidding of car body is easily caused, and it is this
Wheel has very high requirement to fabrication design.The problems of continuous switching wheel is similar to Mecanum wheel, because wheel disc turns
When dynamic, roller is easily caused the vibration and skidding of robot with the discontinuous contact on ground.
The content of the invention
In view of this, the invention provides a kind of omnibearing movable wheelchair with centre of gravity adjustment, can realize wheelchair
All-around mobile and equilibrium function is automatically adjusted, the characteristics of due to its zero radius of gyration, nimbly and freely mobile, it is adaptable to space
Narrow and small environment, improves the ability to act and comfort level of user.
A kind of omnibearing movable wheelchair with centre of gravity adjustment, including seat, electric pushrod, omni-directional moving platform, incline
Angle measuring device, control unit and power supply；
The seat is flexibly connected with omni-directional moving platform, the two ends of the electric pushrod respectively with the bottom surface of seat and
Omni-directional moving platform is hinged, and the dip measuring device perceives the plane of seat and sends to the inclination angle on ground and by angle value
Control unit, the flexible plane for making seat and horizontal plane keeping parallelism that described control unit passes through control electric pushrod are described
Power supply is powered for the electric pushrod, omni-directional moving platform, dip measuring device and control unit.
Further, the omni-directional moving platform includes vehicle frame and two support wheels in front of bottom of frame
With installed in bottom of frame rear two differential drive gears, the support wheel be universal wheel, the differential drive gear bag
Motor seat support, two sets of transmission components and two standard wheels are included, a set of transmission component is operated alone a standard wheels, described differential
Driver element is flexibly connected by motor seat support with vehicle frame.
Further, the transmission component include motor, decelerator, encoder, bearing holder (housing, cover) I, bearing I, driving gear and
Driven gear；Motor output shaft is connected with decelerator, and motor and decelerator are each attached on motor seat support, motor output shaft
Axis is vertical with the direction of advance of wheelchair；The output shaft of decelerator is driven successively and power is passed by driving gear and driven gear
To standard wheels；The driving gear is fixedly connected by axle sleeve with the output shaft of decelerator, and the driven gear is fixedly connected on
On the power transmission shaft of standard wheels, the power transmission shaft of the standard wheels is supported by bearing I, and bearing I is limited axially in bearing holder (housing, cover) I by jump ring
Motion, the bearing holder (housing, cover) I is fixedly connected with motor seat support, and the driving gear and driven gear intermesh, the control
Unit processed sends drive signal according to the angular displacement signal that encoder is gathered to motor, makes omni-directional moving platform according to specified
Move in direction.
Further, the dip measuring device is arranged on the lower section of seat plane, and dip measuring device is by accelerometer
With gyroscope composition.
Further, it is to protect taper roll bearing not to be damaged when by axial impact, in rotary shaft and motor
One end suit buffer spring of seat support connection, the two ends of buffer spring respectively with the end face of bearing holder (housing, cover) II and motor seat support
Upper surface contradicts.
Further, described control unit adopts ARM CortexTMThe microprocessor of-M3 kernels.
Beneficial effect：
1st, wheelchair of the invention can in front and back adjust seat posture when the gradient for having certain inclination angle is moved, and can keep away
The imbalance for exempting to be caused due to the gradient is toppled over, while improving the ride quality of user.
2nd, realize the output shaft and wheel axle center of decelerator using gear drive the two are parallel for differential unit of the invention
Motion and power transmission between axle, with transmission accurately, steady, efficiency high, transmission efficiency and velocity interval is wide, service life
Long the advantages of, it is adaptable to the less occasion of centre-to-centre spacing.
3rd, two wheels of each differential unit of the invention keep coaxial, and two wheels keep coaxial, but two motors
Parallel distribution rather than left and right are distributed side by side using before and after, in reducing for toothed belt transmission between two driving members
The heart away from, realize little spaces compact structure, improve aesthetic property, it is to avoid interact between two differential units.
4th, the present invention does not have too high requirement using Spur Gear Driving to the quality of fit of gear, and gear is in motion process
Even if in the axial float that occurs in error range also ensure that reliable transmission, and bevel gear is required very the accuracy of mesh
Height, once there is play to occur stuck phenomenon very likely occur, affects the normal operation of wheelchair.
5th, the present invention is reliable with low cost using accelerometer and gyroscope integration technology detection balancing seat attitude
Property it is high, low in energy consumption, the little independence of size is good, disguised strong, while increased the accuracy of control.
6th, control unit of the invention is using based on ARM CortexTMThe microprocessor of-M3 kernels, this chip functions are strong
Greatly, with abundant peripheral hardware, with high-speed computation ability so that wheelchair can carry out instant differentiation to the gradient on ground, really
Protect the accuracy for adjusting.
Description of the drawings
Fig. 1 is the overall structure figure of the present invention
Fig. 2,3 are differential drive gear mechanism map of the invention
Fig. 4 is the attachment structure figure of the differential drive gear with car body of the present invention
Fig. 5 is the attachment structure figure of the automatic center-of-gravity regulating balanced controls with car body of the present invention
Schematic appearance when Fig. 6 is the wheelchair during slope climbing of the present invention
Schematic appearance when Fig. 7 is the wheelchair descending of the present invention
Wherein, 1- vehicle frames, 2- seats, 3- electric pushrods, 4- support wheels, 5- differential drive gears, 8- control cabinets, 9- standards
Wheel, 10- motor seat supports, 11- pallets, 12- transmission components, 13- motors, 14- decelerators, 15- driving gears, 16- encoders,
17- axle sleeves, 18- driven gears, 19- bearing holder (housing, cover)s I, 20- bearings I, 21- bearings II, 22- sleeves, 23- end caps, 24- handrails, 25-
Footrest, 26- taper roll bearings, 27- bearing (ball) covers, 28- connectors, 29- rotary shafts, 30- bearings, 31- bearing holder (housing, cover)s II.
Specific embodiment
Develop simultaneously below in conjunction with the accompanying drawings embodiment, describes the present invention.
As shown in Figure 1, the invention provides a kind of omnibearing movable wheelchair with centre of gravity adjustment, including seat 2, electricity
Dynamic push rod 3, omni-directional moving platform, dip measuring device, control unit and power supply；
The omni-directional moving platform includes vehicle frame 1 and two support wheels 4 installed in the bottom front of vehicle frame 1 and installs
In two differential drive gears 5 of the bottom rear of vehicle frame 1, the support wheel 4 is universal wheel；Handrail is also equipped with the vehicle frame 1
24 and footrest 25, control cabinet 8 is fixed on the pallet 11 of central frame beam part, for installing power supply and control unit；
As shown in Figures 2 and 3, the differential drive gear 5 includes 10, two sets of transmission components 12 of motor seat support and two
Standard wheels 9, a set of transmission component 12 is operated alone a standard wheels 9；
Described control unit adopts ARM CortexTMThe microprocessor of-M3 kernels.
The transmission component 12 includes motor 13, decelerator 14, encoder 16, bearing holder (housing, cover) 19, bearing I 20, driving gear
15 and driven gear 18；The output shaft of motor 13 is connected with decelerator 14, and motor 13 and decelerator 14 are each attached to motor seat support
On 10, the axis of motor output shaft is vertical with the direction of advance of wheelchair；The output shaft of decelerator 14 by driving gear 15 and from
Moving gear 18 is driven successively passes to standard wheels 9 power；The driving gear 15 is by axle sleeve 17 and the output shaft of decelerator 14
It is fixedly connected, the driven gear 18 is fixedly connected on the power transmission shaft of standard wheels 9, the power transmission shaft of the standard wheels 9 is by bearing I
20 support, and bearing I 20 is limited the motion of axial direction in bearing holder (housing, cover) I 19 by jump ring, and the bearing holder (housing, cover) I 19 is consolidated with motor seat support 10
Fixed connection, the driving gear 15 and driven gear 18 intermesh, the angular displacement that described control unit is gathered according to encoder
Signal sends drive signal to motor 13, wheelchair is moved according to specified direction.
As shown in Figure 4, the differential drive gear 5 passes through motor seat support 10, taper roll bearing 26, bearing holder (housing, cover) II
31st, connector 28 and rotary shaft 29 are flexibly connected with vehicle frame 1, and one end of the connector is fixedly connected with vehicle frame 1, the other end with
Bearing holder (housing, cover) II 31 is fixedly connected, and the taper roll bearing 26 is arranged in bearing holder (housing, cover) II 31, by bearing (ball) cover 27 to circular cone
Roller bearing 26 carries out axial limiting, and the rotary shaft 29 is connected with taper roll bearing 26, one end of rotary shaft 29 and motor
Seat support 10 is fixedly connected, and is achieved in being flexibly connected for differential drive gear 5 and vehicle frame, is that protection taper roll bearing 26 exists
It is not damaged during by axial impact, the one end being connected with motor seat support 10 in rotary shaft 29 is set with buffer spring, buffering
The two ends of spring contradict respectively with the end face of bearing holder (housing, cover) II 31 and the upper surface of motor seat support 10.
As shown in Figure 5, the seat 2 is movably connected on vehicle frame 1 by bearing II 21, sleeve 22 and end cap 23, institute
The inner ring for stating bearing II 21 is fixedly connected with the inner side of vehicle frame 1, the sleeve 22 is sleeved on the outer circumference surface of the outer ring of bearing II 21
On, the end cap 23 is arranged on the end face of sleeve 22, prevents the axial float of bearing II 21；The two ends of the electric pushrod 3
It is hinged with the bearing 30 of the bottom surface of seat and the vehicle frame 1 of omni-directional moving platform respectively.
The dip measuring device is arranged on the lower section of the plane of seat 2, and dip measuring device is by accelerometer and gyroscope
Composition, described control unit receives the measurement signal of dip measuring device and the control to electric pushrod 3 is drawn after being calculated
Amount, controls the stroke of electric pushrod 3 so that the plane of seat 2 remains parallel state, the control list with horizontal plane
Unit also receives the signal of encoder 16, and control unit is calculated after corresponding controlled quentity controlled variable to the motor 13 in differential drive gear 5
It is driven, realizes the actions such as advance, retrogressing and the turning of omni-directional moving platform 7.
As seen in figs. 6 and 7, the center of gravity adjustment work process of wheelchair during wheelchair climb and fall, in under-seat top is equipped with
Detecting seat inclination angle, electric pushrod is used as executing agency for spiral shell instrument and accelerometer.When wheelchair is in the gradient for having certain inclination angle
When mobile, it is contemplated that the comfort level of user and because the imbalance that the gradient causes is toppled over, by the traveling for adjusting electric pushrod
Distance changes the inclination angle of seat and then the gravity center shift that wheelchair occurs during climbing is compensated, and then completes wheelchair
Center of gravity self-balancing adjust.In wheelchair climb and fall, the inclination value for measuring is passed to control unit by dip measuring device, control
It is zero that unit control electric pushrod to stretch up to inclination value, so as to ensure the balance of wheelchair.
In sum, presently preferred embodiments of the present invention is these are only, is not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (4)
1. there is the omnibearing movable wheelchair of centre of gravity adjustment, it is characterised in that include：It is seat (2), electric pushrod (3), comprehensive
Mobile platform (7), dip measuring device, control unit and power supply；
The seat (2) is flexibly connected with omni-directional moving platform (7), the two ends of the electric pushrod (3) respectively with seat (2)
Bottom surface and omni-directional moving platform be hinged, the dip measuring device perceives the plane of seat (2) with the inclination angle on ground and general
Angle value sends control unit to, the flexible plane and water for making seat (2) that described control unit passes through control electric pushrod (3)
Plane keeping parallelism, the power supply is that the electric pushrod (3), omni-directional moving platform (7), dip measuring device and control are single
Unit's power supply；
The omni-directional moving platform (7) includes vehicle frame (1) and two support wheels (4) installed in vehicle frame (1) bottom front
With two differential drive gears (5) installed in vehicle frame (1) bottom rear, the support wheel (4) is universal wheel, the differential drive
Moving cell (5) includes motor seat support (10), two sets of transmission components (12) and two standard wheels (9), a set of transmission component (12)
A standard wheels (9) is operated alone, the differential drive gear (5) is flexibly connected by motor seat support (10) with vehicle frame (1).
2. there is as claimed in claim 1 the omnibearing movable wheelchair of centre of gravity adjustment, it is characterised in that the transmission component
(12) including motor (13), decelerator (14), encoder (16), bearing holder (housing, cover) I (19), bearing I (20), driving gear (15) and from
Moving gear (18)；Motor (13) output shaft is connected with decelerator (14), and motor (13) and decelerator (14) are each attached to motor cabinet
On support (10), the axis of motor output shaft is vertical with the direction of advance of wheelchair；On motor seat support (10)；Decelerator (14)
Output shaft is driven successively and power is passed to standard wheels (9) by driving gear (15) and driven gear (18)；The driving gear
(15) it is fixedly connected with the output shaft of decelerator (14) by axle sleeve (17), the driven gear (18) is fixedly connected on standard wheels
(9) on power transmission shaft, the power transmission shaft of the standard wheels (9) is supported by bearing I (20), bearing I (20) in bearing holder (housing, cover) I (19) by
Jump ring limits the motion of axial direction, and the bearing holder (housing, cover) I (19) is fixedly connected with motor seat support (10), the driving gear (15) and
Driven gear (18) intermeshes, and described control unit sends according to the angular displacement signal that encoder (16) is gathered to motor (13)
Drive signal, makes omni-directional moving platform (7) move according to specified direction.
3. there is as claimed in claim 1 the omnibearing movable wheelchair of centre of gravity adjustment, it is characterised in that the measurement of dip angle dress
Put installed in the lower section of seat (2) plane, dip measuring device is made up of accelerometer and gyroscope.
4. there is as claimed in claim 1 the omnibearing movable wheelchair of centre of gravity adjustment, it is characterised in that described control unit is adopted
Use ARM CortexTMThe microprocessor of-M3 kernels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510300278.5A CN104887414B (en) | 2015-06-03 | 2015-06-03 | Omni-directionally movable wheelchair with gravity center adjusting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510300278.5A CN104887414B (en) | 2015-06-03 | 2015-06-03 | Omni-directionally movable wheelchair with gravity center adjusting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104887414A CN104887414A (en) | 2015-09-09 |
| CN104887414B true CN104887414B (en) | 2017-04-26 |
Family
ID=54020673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510300278.5A Expired - Fee Related CN104887414B (en) | 2015-06-03 | 2015-06-03 | Omni-directionally movable wheelchair with gravity center adjusting function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104887414B (en) |
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| CN105250088B (en) * | 2015-11-17 | 2017-05-31 | 南京康尼机电股份有限公司 | A kind of Intelligent seat |
| MX2018011550A (en) * | 2016-03-23 | 2019-01-28 | Ford Global Tech Llc | Versatile urban electric transport device and system. |
| CN105816280B (en) * | 2016-05-03 | 2018-11-02 | 薄和秋 | A kind of intelligent stair climbing wheelchair of automatic range |
| KR101788177B1 (en) | 2016-08-24 | 2017-10-19 | 김준영 | Wheelchair |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
| CN107890396A (en) * | 2017-11-30 | 2018-04-10 | 定远县中林机械技术有限公司 | A kind of self-balancing seat |
| CN108042276A (en) * | 2017-11-30 | 2018-05-18 | 定远县中林机械技术有限公司 | One kind has multi-functional disabled people-aiding electric wheelchair |
| CN108032925B (en) * | 2017-12-06 | 2019-12-24 | 定远县中林机械技术有限公司 | Self-balancing equipment electric tracking vehicle system |
| CN107898566A (en) * | 2017-12-25 | 2018-04-13 | 定远县中林机械技术有限公司 | A kind of adaptive stair activity wheelchair |
| CN110420098A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
| CN110169882A (en) * | 2019-05-14 | 2019-08-27 | 山东交通职业学院 | A kind of floated planar support balance holding meanss |
| CN110090117B (en) * | 2019-06-04 | 2024-07-16 | 常州机电职业技术学院 | Intelligent wheelchair |
| CN110613565A (en) * | 2019-09-24 | 2019-12-27 | 安徽信息工程学院 | Self-balancing wheelchair of riding instead of walk |
| CN111166076A (en) * | 2020-01-20 | 2020-05-19 | 台州风锐电子科技有限公司 | Zero-gravity computer workstation |
| CN112515870B (en) * | 2020-11-11 | 2023-04-11 | 温州大学 | Electric wheelchair capable of controlling running and turning by gravity center for sports |
| CN112826675A (en) * | 2021-01-04 | 2021-05-25 | 衢州职业技术学院 | Obstacle-crossing electric wheelchair |
| CN112623056A (en) * | 2021-01-08 | 2021-04-09 | 北京工业大学 | Omni-directional moving device based on non-universal wheel is realized |
| CN112932822B (en) * | 2021-01-29 | 2024-06-14 | 西安交通大学 | Pose detection and control method of electric wheelchair |
| CN113440345B (en) * | 2021-07-28 | 2022-07-22 | 青岛科技大学 | Omnidirectional wheelchair with gravity center capable of being automatically adjusted |
| CN114176922A (en) * | 2021-12-31 | 2022-03-15 | 合肥工业大学 | Wheelchair suitable for people with slight disabilities |
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| CN2203140Y (en) * | 1994-06-11 | 1995-07-12 | 福建实达电脑股份有限公司 | Computerized universal walking wheelchair |
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|---|---|
| CN104887414A (en) | 2015-09-09 |
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Granted publication date: 20170426 Termination date: 20200603 |