CN105686910A - Scene-adaptive type driving wheel structure and driving method - Google Patents
Scene-adaptive type driving wheel structure and driving method Download PDFInfo
- Publication number
- CN105686910A CN105686910A CN201610048276.6A CN201610048276A CN105686910A CN 105686910 A CN105686910 A CN 105686910A CN 201610048276 A CN201610048276 A CN 201610048276A CN 105686910 A CN105686910 A CN 105686910A
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- wheel
- central control
- control system
- wheel rim
- driving wheel
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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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
- B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/023—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels
- B62K5/025—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Veterinary Medicine (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Handcart (AREA)
Abstract
The invention provides a scene-adaptive type driving wheel structure and a driving method. The driving wheel structure comprises a wheel frame, a wheel shaft and a wheel rim, the wheel shaft is rotatably arranged on the wheel frame, the wheel rim is coaxially arranged on an outer ring of the wheel shaft, the wheel rim is uniformly divided into multiple sections, and each wheel rim section is connected with the wheel shaft through a radial telescopic mechanism; the driving wheel structure further comprises a power system, a central control system and a recognition system, the central control system is connected with both the power system and the recognition system, and the power system is connected with the telescopic mechanisms. According to the driving wheel structure, the wheel size can keep consistent with the size of an existing wheel, the same rolling speed can be achieved, obstacle balancing compensation is also achieved, bumping cannot be generated in rolling, and the driving wheel structure is suitable for electrically powered wheelchairs, service robots, scooters and the like.
Description
Technical field
The invention belongs to wheel drive technical field, particularly to a kind of scene adapter type driving wheel structure and driving method。
Background technology
In riding instead of walk, traditional scooter wheel, wheelchair wheel can play top volt when running into rugged road surface, and the user on wheel is had very bad experience, mostly especially are patient on wheelchair, jolt and can increase the weight of the deterioration of the state of an illness。
Moreover, such as the wheel of wheelchair, suitcase is difficult to when stair activity up and down, for solving the problems referred to above, having the wheel carrier of design Y shape, three of wheel carrier are equipped with roller, although so energy stair activity, but the diameter of wheel is bound to only small, when being particularly used on wheelchair, when the user being sitting on wheelchair promotes every time, rise is only small, the stroke of wheel is also only small, strengthens and promotes frequency comparatively painstaking again。If adopting battery to drive, the excessive velocities of small-wheel-diameter wheelchair is easily turned on one's side。
Summary of the invention
It is an object of the invention to for above-mentioned rollers Problems existing in particular circumstances, it is provided that a kind of scene adapter type driving wheel structure that can make roll compensation。
The purpose of the present invention can be realized by following technical proposal: a kind of scene adapter type driving wheel structure, it includes wheel carrier, wheel shaft and wheel rim, described wheel shaft rotates to be located on wheel carrier, it is characterized in that, described wheel rim is with being located in wheel shaft outer ring, wheel rim is uniformly divided into multistage, it is connected by the telescoping mechanism of a radial direction between every section of wheel rim and wheel shaft, this driving wheel structure also includes dynamical system, central control system and identification system, central control system connects dynamical system and identification system respectively, and dynamical system connects telescoping mechanism。
Described telescoping mechanism includes radial spoke on wheel rim, and every spoke forms by one group of expansion link, and described dynamical system is for controlling the collapsing length of expansion link, and described expansion link is cylinder or hydraulic cylinder。
Described expansion link when extended, has certain spacing between adjacent wheel rim paragraph。
Described expansion link is connected to the middle part of every section of wheel rim, and every section of wheel rim is divided into inner side and outer side, the inner side of described wheel rim to be linear, and outer ring is arc line shaped。
Described dynamical system includes battery and pressure pump control module, and described pressure pump control module is directly controlled by central control system。
Described dynamical system also includes wheel hub motor, and this wheel hub motor connects wheel shaft and live axle rotates, and wheel hub motor is directly controlled by central control system。
Described identification system includes rangefinder module or radar module, rangefinder module or radar module and information is directly fed back in central control system。
This driving wheel structure also includes balance system, and balance system includes gyro module, and gyro module is connected with central control system。
The driving method of a kind of scene adapter type driving wheel, it is characterised in that it is completed by following steps:
A, by identification system, environment is detected, obstacle information is fed back in central control system；
B, central control system start analytical data, and data include the pick-up point distance to barrier of this wheel rim, wheel rim pick-up point to the number of turns of barrier, wheel rim pressure site；
C, arriving barrier place, central control system is determined and is lifted by corresponding telescoping mechanism, it is determined that the lifting distance of telescoping mechanism, makes wheel rim steadily to compensate；
D, central control system directly control dynamical system and act on telescoping mechanism lifting；
E, when wheel rim presses barrier, identification system detects barrier again, it is ensured that barrier size accurate。
F, after barrier immediately central control system just by telescoping mechanism reset, make wheel rim again become full circle。
In described a-f step, central control system controls wheel shaft always and rotates, and by balance system in balance。
Compared with prior art, the size of wheel can be kept consistent with existing wheel size by this invention, can reach identical speed of rolling, have again barrier balanced compensated simultaneously, will not produce to jolt when rolling, it is adaptable to electric wheelchair, service robot, scooter etc.。
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention。
Fig. 2 is the step rising schematic diagram of the present invention。
Fig. 3 is the schematic diagram that the present invention crosses small-sized barrier。
Fig. 4 is each phylogenetic relationship schematic diagram of the present invention。
In figure, 1, wheel rim；2, expansion link；3, fixed part；4, wheel shaft；5, rangefinder module；6, wheel carrier；7, central control system；8, balance system；9, system is identified；10, dynamical system；11, pressure pump control module；12, wheel hub motor；13, cylinder；14, battery；15, gyro module；16, radar module。
Detailed description of the invention
The following is specific embodiments of the invention and in conjunction with accompanying drawing, technical scheme is further described, but the present invention is not limited to these embodiments。
Embodiment 1
Shown in Fig. 1, the present invention includes a wheel carrier 6, wheel carrier 6 is provided with single-wheel or two-wheel, single-wheel or the wheel shaft of two-wheel 4 rotate to be located on wheel carrier 6, and wheel shaft 4 is radially provided with some radial spokes, and each spoke is made up of one group of expansion link 2, further, this expansion link 2 can be bar shaped cylinder 13, and the cylinder body of cylinder 13 is fixed on the fixed part 3 of wheel shaft 4 circumference, and piston rod portion connects wheel rim 1。Described wheel rim 1 is multistage by even partition, one cylinder 13 of every section of correspondence。During as normal wheel turns, the gap that every section of wheel rim 1 encloses is not more than 5mm。The piston rod of cylinder 13 is connected to the middle part of every section of wheel rim 1, and every section of wheel rim 1 is divided into inner side and outer side, and the inner side of described wheel rim 1 is linear, and outer ring is arc line shaped。
Shown in Fig. 4, this invention also includes dynamical system 10, central control system 7, identification system 9 peace balance system 8, central control system 7 connects dynamical system 10 respectively, identifies system 9, balances system 8, information is fed back to central control system 7 by identification system 9, balance system 8, and central control system 7 will directly control the output of dynamical system 10:
Identification system 9 includes rangefinder module 5 or radar module 16, rangefinder module 5 or radar module 16 and information is directly fed back in central control system 7,
Balance system 8 includes spiral shell instrument module, and gyro module 15 is connected with central control system 7 and is fed back to by angle information in central control system 7,
Dynamical system 10 includes battery 14, pressure pump control module 11, wheel hub motor 12, and pressure pump control module 11 is directly controlled by central control system 7, and pressure pump control module 11 connects cylinder 13, central control system 7 submiting command determine the flexible of cylinder 13；Wheel hub motor 12 connects wheel shaft 4 and live axle 4 rotates, and wheel hub motor 12 is directly controlled by central control system 7。
The control method of system above is as follows:
A, by identification system 9, environment is detected, obstacle information is fed back in central control system 7；
B, central control system 7 start analytical data, and data include the pick-up point distance to barrier of this wheel rim 1, site is pressed to the number of turns of barrier, wheel rim 1 in wheel rim 1 pick-up point；
C, arriving barrier place, central control system 7 determines and is lifted by corresponding cylinder 13 that cylinder 13, shown in Fig. 2, when topping bar, is stretched by the length of lifting；Described in Fig. 3, when running into fritter barrier, corresponding cylinder 13 is shunk, make wheel rim 1 steadily to compensate, as run into barrier reference Fig. 2 pattern compensation of bulk；
D, central control system 7 directly control dynamical system 10 and active cylinder 13 lifts；
E, when wheel rim 1 presses barrier, identification system 9 detects barrier again, it is ensured that barrier size accurate, if inaccurate again to step c；
F, after barrier, cylinder 13 is just resetted by central control system 7 immediately, makes wheel rim 1 again become full circle。
In a-f step, central control system 7 controls wheel shaft 4 always and rotates, and is kept balance by balance system 8。
Embodiment 2
For three-wheel or carriage, it is possible to cancelling balance system 8, detailed description of the invention can refer to embodiment 1。
Claims (10)
1. a scene adapter type driving wheel structure, it includes wheel carrier (6), wheel shaft (4) and wheel rim (1), described wheel shaft (4) rotates to be located on wheel carrier (6), it is characterized in that, described wheel rim (1) is with being located in wheel shaft (4) outer ring, wheel rim (1) is uniformly divided into multistage, it is connected by the telescoping mechanism of a radial direction between every section of wheel rim (1) and wheel shaft (4), this driving wheel structure also includes dynamical system (10), central control system (7) and the system of identification (9), central control system (7) connects dynamical system (10) and the system of identification (9) respectively, dynamical system (10) connects telescoping mechanism。
2. a kind of scene adapter type driving wheel structure according to claim 1, it is characterized in that, described telescoping mechanism includes the upper radial spoke of wheel rim (1), every spoke forms by one group of expansion link (2), described dynamical system (10) is used for controlling the collapsing length of expansion link (2), and described expansion link (2) is cylinder (13) or hydraulic cylinder。
3. a kind of scene adapter type driving wheel structure according to claim 1 and 2, it is characterised in that described expansion link (2) when extended, has certain spacing between adjacent wheel rim (1) paragraph。
4. a kind of scene adapter type driving wheel structure according to claim 3, it is characterized in that, described expansion link (2) is connected to the middle part of every section of wheel rim (1), every section of wheel rim (1) is divided into inner side and outer side, the inner side of described wheel rim (1) is linear, and outer ring is arc line shaped。
5. a kind of scene adapter type driving wheel structure according to claim 1 and 2, it is characterized in that, described dynamical system (10) includes battery (14) and pressure pump control module (11), and described pressure pump control module (11) is directly controlled by central control system (7)。
6. a kind of scene adapter type driving wheel structure according to claim 5, it is characterized in that, described dynamical system (10) also includes wheel hub motor (12), this wheel hub motor (12) connects wheel shaft (4) and live axle (4) rotates, and wheel hub motor (12) is directly controlled by central control system (7)。
7. a kind of scene adapter type driving wheel structure according to claim 6, it is characterized in that, described identification system (9) includes rangefinder module (5) or radar module (16), rangefinder module (5) or radar module (16) and information is directly fed back in central control system (7)。
8. a kind of scene adapter type driving wheel structure according to claim 1 and 2, it is characterized in that, this driving wheel structure also includes balance system (8), balance system (8) includes gyro module (15), and gyro module (15) is connected with central control system (7)。
9. a kind of scene adapter type driving wheel structure according to claim 7, it is characterized in that, this driving wheel structure also includes balance system (8), balance system (8) includes gyro module (15), and gyro module (15) is connected with central control system (7)。
10. the driving method being applicable to claim 1, it is characterised in that it is completed by following steps:
A, by identify system (9) environment is detected, obstacle information is fed back in central control system (7)；
B, central control system (7) start analytical data, and data include the pick-up point of this wheel rim (1) to the distance of barrier, wheel rim (1) pick-up point to the number of turns of barrier, wheel rim (1) pressure site；
C, arriving barrier place, central control system (7) is determined and is lifted by corresponding telescoping mechanism, it is determined that the lifting distance of telescoping mechanism, makes wheel rim (1) steadily to compensate；
D, central control system (7) directly control dynamical system (10) and act on telescoping mechanism lifting；
E, when wheel rim (1) presses barrier, identify that system (9) detects barrier again, it is ensured that barrier size accurate。
F, after barrier immediately central control system (7) just by telescoping mechanism reset, make wheel rim (1) again become full circle；
In described a-f step, central control system (7) controls wheel shaft (4) always and rotates, and is kept balance by balance system (8)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048276.6A CN105686910B (en) | 2016-01-25 | 2016-01-25 | A kind of driving method suitable for scene adapter type driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048276.6A CN105686910B (en) | 2016-01-25 | 2016-01-25 | A kind of driving method suitable for scene adapter type driving wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105686910A true CN105686910A (en) | 2016-06-22 |
| CN105686910B CN105686910B (en) | 2017-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610048276.6A Active CN105686910B (en) | 2016-01-25 | 2016-01-25 | A kind of driving method suitable for scene adapter type driving wheel |
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| Country | Link |
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| CN (1) | CN105686910B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618892A (en) * | 2017-03-07 | 2017-05-10 | 华东理工大学 | Multifunctional wheelchair enabling independent travel |
| CN106671695A (en) * | 2017-01-09 | 2017-05-17 | 王超 | Deformable wheel on trolley |
| CN112914862A (en) * | 2021-02-24 | 2021-06-08 | 陈娇 | Expanding type poking wheel chair |
| CN112914858A (en) * | 2021-01-26 | 2021-06-08 | 张德强 | Eight-wheel-drive variable-wheelbase patient walking-aid wheelchair |
| CN114983694A (en) * | 2022-05-23 | 2022-09-02 | 吉林大学 | Self-adaptive multi-terrain electric stair climbing wheelchair |
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|---|---|---|---|---|
| JPH10100602A (en) * | 1996-09-28 | 1998-04-21 | Fumito Ito | Wheel capable of getting on/off step difference |
| CN2302154Y (en) * | 1997-08-25 | 1998-12-30 | 孟宪伟 | Spoke variable wheel |
| FR2795947A1 (en) * | 1999-07-05 | 2001-01-12 | Alain Limpas | Wheelchair has deformable rims on large wheels for overcoming obstacles such as sidewalks or steps |
| CN101462462A (en) * | 2007-12-19 | 2009-06-24 | 李上 | Elastic spoked wheel |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN204890388U (en) * | 2015-07-09 | 2015-12-23 | 郑州大学 | Accessible platform downstairs of going up |
-
2016
- 2016-01-25 CN CN201610048276.6A patent/CN105686910B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10100602A (en) * | 1996-09-28 | 1998-04-21 | Fumito Ito | Wheel capable of getting on/off step difference |
| CN2302154Y (en) * | 1997-08-25 | 1998-12-30 | 孟宪伟 | Spoke variable wheel |
| FR2795947A1 (en) * | 1999-07-05 | 2001-01-12 | Alain Limpas | Wheelchair has deformable rims on large wheels for overcoming obstacles such as sidewalks or steps |
| CN101462462A (en) * | 2007-12-19 | 2009-06-24 | 李上 | Elastic spoked wheel |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN204890388U (en) * | 2015-07-09 | 2015-12-23 | 郑州大学 | Accessible platform downstairs of going up |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671695A (en) * | 2017-01-09 | 2017-05-17 | 王超 | Deformable wheel on trolley |
| CN106618892A (en) * | 2017-03-07 | 2017-05-10 | 华东理工大学 | Multifunctional wheelchair enabling independent travel |
| CN112914858A (en) * | 2021-01-26 | 2021-06-08 | 张德强 | Eight-wheel-drive variable-wheelbase patient walking-aid wheelchair |
| CN112914858B (en) * | 2021-01-26 | 2023-05-16 | 明光宜弘塑料五金制品有限公司 | Eight-drive variable-wheelbase patient walking-assisting wheelchair |
| CN112914862A (en) * | 2021-02-24 | 2021-06-08 | 陈娇 | Expanding type poking wheel chair |
| CN114983694A (en) * | 2022-05-23 | 2022-09-02 | 吉林大学 | Self-adaptive multi-terrain electric stair climbing wheelchair |
| CN114983694B (en) * | 2022-05-23 | 2023-02-17 | 吉林大学 | Self-adaptive multi-terrain electric stair climbing wheelchair |
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| Publication number | Publication date |
|---|---|
| CN105686910B (en) | 2017-07-28 |
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