CN107628165A - A kind of vehicle for disabled person based on platform control system and supporting happiness car - Google Patents
A kind of vehicle for disabled person based on platform control system and supporting happiness car Download PDFInfo
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- CN107628165A CN107628165A CN201710898765.5A CN201710898765A CN107628165A CN 107628165 A CN107628165 A CN 107628165A CN 201710898765 A CN201710898765 A CN 201710898765A CN 107628165 A CN107628165 A CN 107628165A
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Abstract
The present invention devises a kind of vehicle for disabled person based on platform control system and supporting happiness car.Vehicle for disabled person composition includes vehicle body, manual drive device, platform control system, independent steering system, motor driven systems, shaft transmission system, centralized brakes, wheel set, battery.Vehicle body is installed on platform control system, and platform control system can adjust body gesture according to the situation of track.Driving force from motor driven systems is transferred at wheel set and is driven respectively through shaft transmission system.Independent steering system can realize the independent control to three wheel steering angles, it is carried out pivot stud motion.Supporting happiness car can bidirectional driving, both realized the accessible driving of disabled person driver, while meet the use demand of normal person.The vehicle for disabled person and supporting happiness car solve the problems, such as trip of the disabled person driver from the home to parking area last one kilometer, compact-sized, and traveling is flexible, effectively increase the comfortableness and maneuverability of driver.
Description
Technical field
The present invention devises a kind of vehicle for disabled person based on platform control system and supporting happiness car.Facilitate lower limb disability
The trip requirements of people driver's short distance and the demand remotely driven, solve and asked from family to the trip of last one kilometer between automobile
Topic.The invention belongs to vehicle and technical field of transportation.
Background technology
With the continuous development of vehicle technology, the continuous reduction of manufacturing cost, the drive demand of lower limb disability people is begun with
More chances are satisfied.The short distance trip of conventional disabled person relies primarily on wheelchair, and goes on a journey at a distance mainly by other people
Treatment, or use auxiliary driving device.Because the road surface of cell, pavement, shopping mall etc. is mostly masonry road, deposit simultaneously
In barriers such as curbs, driving cycle is complicated, therefore in general electric wheelchair is difficult to adapt to traveling road conditions.While electric wheelchair
Comfortableness and flexibility are also poor, and larger danger is equally existed for disabled person driver.To substitute wheelchair, some
Patent design vehicle for disabled person and four-wheel wheel-chair.Patent CN101589979B devises a wheel-chair, and it realizes original place
Turn to etc. operating mode, improve flexibility, but it only has two wheel drives and front-wheel is servo-actuated, simultaneously because being led in the absence of suspension system
The reduction of its ride performance is caused, while does not have obstacle climbing ability.
Meanwhile in recent years, a kind of vehicle for being referred to as happiness car gradually grows up.This vehicle is typically changed by limousine
Dress forms.Happiness car looks after two kinds of formula and self-driving formula.The former removes seat, and design ramp structure Convenient wheelchair enters, by bus
When disabled person ride on wheelchair.Some happiness cars then using can automatic lifting seat, when disabled person reach car door mouth when seat
Chair can be leant out outside car door, facilitate its seating.The latter driver can then be driven by auxiliary driving device, i.e., by hand come
Realize the control of gas pedal and brake pedal.Patent 201510804308.6 provides a kind of happiness car, and the car can be carried out tiltedly
The stretching on slope, the traction and fixation of wheelchair.Patent 201010507711.X provides a kind of dress for being used to aid in disabled person to drive
Put.It can be seen that for looking after formula happiness car, it is necessary to could ride with the help of other people, cause to bear to other people, and self-driving
The happiness car of formula needs to reequip vehicle, normal person is not driven and is only capable of disabled person's driving, which results in money
Certain waste in source.
Vehicle for disabled person for substituting wheelchair, it is fallen within the category of vehicular traffic.With automobile industry technology not
Disconnected development, the application and research of wire control technology are more and more.From the angle analysis for realizing function, due to wire control technology eliminate it is defeated
Enter the mechanical connection between device and executing agency, it is possible to achieve accurate control to executing agency, while mechanical structure takes
Use spatially can greatly be reduced by disappearing, and improve vehicle structure compactedness, therefore is widely applied, and is readily applicable to
The vehicle for disabled person of the present invention.There is larger superiority as controlling organization using control stick.By setting control stick, can incite somebody to action
The system input such as steering, braking, driving is brought together, more convenient for disabled person driver while also more favourable
In integrated control.
Therefore, the present invention devises a kind of vehicle for disabled person based on platform stable system and supporting happiness car.The former uses
Control stick is as input, to facilitate control of the physical handicaps driver to state of motion of vehicle.In order to tackle shopping mall and people's row
The complicated and road conditions jolted on road, are adjusted by design platform systems stabilisation to body gesture, to improve the smooth-going of vehicle
Property, and there is certain obstacle climbing ability.Using technologies such as steering-by-wire, drive-by-wire, brake-by-wires, can realize to vehicle
While executing agency directly accurately controls, reduce the use of mechanical structure, make more compact structure, while function is realized
Substantially reduce the volume and quality of vehicle.Different from existing invention, the supporting happiness car of the latter's design is solution normal person
With disabled person can only a people drive, produce the problem of wasting of resources, but design the car former and later two direction runnings, two sets of design is grasped
Vertical structure., in one case vehicle for disabled person can be directly entered in happiness car, be connected by cable architecture with happiness car, directly
Happiness car is controlled by the control stick in vehicle for disabled person and driven.In another case, vehicle for disabled person enters good fortune
Taken in happiness car, normal person drives to happiness car.
The content of the invention
The present invention devises a kind of vehicle for disabled person based on platform control system and supporting happiness car.The vehicle for disabled person and match somebody with somebody
Set happiness car can not only realize barrier free accessibility of the disabled person from the home to this segment distance of happiness car, while designed happiness car
Gathered the advantages of looking after formula happiness car and self-driving formula happiness car, solve existing self-driving formula happiness car normal person can not drive and
Caused by the wasting of resources the problem of.
Vehicle for disabled person is by vehicle body 1, manual drive device 2, platform control system 3, independent steering system 5, motor drivetrain
System 4, shaft transmission system 7, centralized brakes 8, wheel set 6, wheel active drive system 17, battery 9, bidirectional acceleration
Sensor 10 forms.The car has three wheels, it is contemplated that riding stability and constructive interference, it is base angle to design its distribution form
65 ° of isosceles triangle.Front-wheel has two, and trailing wheel has one.Manually pilot instrument 2 is carried out disabled person driver to vehicle
Manipulate.Vehicle body 1 is installed on platform control system 3, and the tune to the posture of vehicle body 1 can be realized by the control to the system
It is whole, to lift the comfortableness of vehicle, and there is certain obstacle climbing ability.Motor is installed on the lower end of platform control system 3,
Power is inputted into shaft transmission system 7.The size of power and direction are changed by shaft transmission system 7, finally entered
In wheel set 6.Three wheels 24 are driving wheel, and wheel active drive system 17 is provided with simultaneously at trailing wheel, to ensure
Driving dynamics.Centralized brakes 8 is installed between motor and shaft transmission system 7, during braking before power separates
Apply brake force.Independent steering system 5 is independently controlled by steering motor 31 to the corner of three wheels, can realized
While pivot stud moves, its control stability can be improved.
Platform control system 3 described in technical scheme is by upper mounting plate 11, multiple degrees of freedom connecting rod 12, displacement inputting apparatus
13rd, lower platform 14, connecting spring 15, displacement transducer 16 form.The upper end of multiple degrees of freedom connecting rod 12 passes through with upper mounting plate 11 respectively
Hinge connection, lower end are connected with three displacement inputting apparatus 13.Displacement inputting apparatus 13 is fixedly connected with lower platform 14, is vertical
Arrangement.It is controlled by the displacement to displacement inputting apparatus 13, multiple degrees of freedom connecting rod 12 can be driven and then drive upper mounting plate
11 are moved, and platform is had the free degree of six direction.Due to vehicle for disabled person during the traveling upper mounting plate 11 with
Platform 14 has relative displacement all the time in vertical direction, in order to reduce the energy loss of displacement inputting apparatus 13, passes through connecting spring
Both 15 connections, to provide the power transmission between upper mounting plate 11 and lower platform 14.By displacement transducer 16 and connecting spring 15 simultaneously
Connection connection, displacement is measured by displacement transducer 16, the state of upper mounting plate 11 is obtained by calculating reckoning, in order to displacement
Input unit 13 is controlled.Connecting spring 15 shares three groups with displacement transducer 16.When disabled person prepares to get on or off the bus, control
Vehicle body declines, to facilitate disabled person to get on the bus.When vehicle is travelled to the bumpy road of injustice, by control platform control system 3,
Vehicle body level is kept to prevent from jolting.When vehicle needs obstacle detouring, make the center of gravity of vehicle forward by the regulation to body gesture or
Backward, to improve the stability of the process.When vehicle uphill, downhill, again by the regulation to vehicle center of gravity, change seat pair
The amount of force of disabled person driver and direction, to improve crew comfort.
The lower platform 14 of platform control system 3 described in technical scheme is shaped as, and first half is the fan of 85 ° of central angle
Shape, when vehicle for disabled person collides, the sector structure of first half can improve the passive of vehicle with the impulsive force of buffer portion
Security.The center of gravity of vehicle for disabled person is moved forward simultaneously, its stability can be improved when vehicle for disabled person carries out obstacle detouring.It is latter half of
Set up meter separately, be long 600mm, wide 300mm rectangle, the mainly installation of consideration vehicle body and position, and be battery 9 and two-way acceleration
Degree sensor 10 reserves space.
Independent steering system 5 described in technical scheme shares three sets, independently controls the corner of three wheels, by turning
Axle 30 and steering motor 31 form.Steering motor 31 is fixed at the lower platform 14 of platform control system 3, and the one end of rotating shaft 30 is with
Platform 14 connects, and the other end is connected with wheel set 6.When steering motor 31 rotates, wheel set 6 is driven to rotate, with reality
Turn now to.In the case where considering the constraint limitation of shaft transmission system 7, the design angle range of three wheels can reach ± 60 °, therefore logical
The pivot stud motion that vehicle can be achieved in the control to corner is crossed, makes vehicle that there is very high flexibility, to tackle cell or people
Complex working condition on trade.
Centralized brakes 8 described in technical scheme is made up of electromagnetic brake；Electromagnetic brake is installed on driving
Between motor and shaft transmission system 7, by controlling it, brake force can be provided before power distributes, realize vehicle
Braking.
Independent steering system 5 and centralized brakes 8 described in technical scheme, when vehicle is in up-hill position and needs
When stopping, in order to save the energy, domatic resistance is made full use of, controls centralized brakes 8 to play a role first, there is provided
Parking brake force；Then, the corner of three wheels of independent control by 0 ° respectively to -58.5 °, 57.6 ° and 55 °；Wheel steering angle becomes
Change terminate after gradually decrease brake force, until Double direct acceleration sensor 10 measurement obtain it is minimum along domatic downward acceleration
When, increase a part of brake force in turn as redundancy.The size of independent control wheel steering angle determines that method is, defines three first
The individual corner of wheel 24 is respectively θ1,θ2,θ3, preceding wheel assembly quality is m, and rear wheel assembly quality is M, and wheel set 6 is downward along inclined-plane
Stress is F ', and total longitudinal force is Fd, time t.It is derived by by mechanics, Fd=F ' (cos θ1+cosθ2+cosθ3).To meet
Disabled person is parked in up-hill position and is not easy to glide, and determines optimization aim：J=minFd.It is three wheel transverse direction positions to determine constraints
Move and for 0, i.e.,：
Optimized by genetic algorithm, obtain optimal value θ1=-1.0214, θ2=1.0191, θ3=0.9588.
Motor described in technical scheme is installed on centre position at the lower platform 14 of platform control system 3, driving
The clutch end of motor is disposed vertically downward, and is connected with the shaft transmission system 7 of the lower end of lower platform 14.
Shaft transmission system 7 described in technical scheme shares three sets, by main casing 18, master bevel gear 19, upper bevel gear 20,
Upper cardan 21, power transmission shaft 22, lower cardan 23, lower bevel gear 29, composition.Master bevel gear 19 is meshed with upper bevel gear 20,
It is installed in main casing 18.Motor, which rotates, drives master bevel gear 19 and three upper bevel gears 20 to rotate, and power is divided into three
Place；The both ends of power transmission shaft 22 are connected with upper cardan 21 and lower cardan 23, and upper cardan 21 and upper bevel gear 20 are coaxially connected, under
Universal joint 23 and lower bevel gear 29 are coaxially connected；Power through upper bevel gear 20 be transferred to successively upper cardan 21, power transmission shaft 22,
Lower cardan 23, lower bevel gear 29, lower bevel gear 29 are connected with wheel set 6, power are inputted to wheel set 6.It is logical
Crossing the setting of universal joint and power transmission shaft 22 makes vehicle shaft transmission system 7 during steering that movement interference not occur.
Wheel set 6 described in technical scheme shares three sets, there is two at front-wheel, there is one at trailing wheel, by from mantle
Gear 28, lower drive shaft 27, wheel drive bevel gear 26, wheel driven wheel of differential 25, wheel active drive system 17, wheel 24
Composition.The structure that three sets of wheel sets 6 have is as follows：Lower bevel gear 29 therein is meshed with driven wheel of differential 28, by power
Reached at shaft transmission system 7 at wheel set 6.Driven wheel of differential 28 drives rotation by lower bevel gear 29, drives lower drive shaft
27 and wheel drive bevel gear 26 rotate.Wheel drive bevel gear 26 is meshed with wheel driven wheel of differential 25 and angle is 90 °,
Wheel driven wheel of differential 25 is co-axially mounted with wheel 24, and final band motor car wheel 24 rotates, and travels vehicle.Compared with front-wheel,
Specifically, wheel active drive system 17 is designed with trailing wheel wheel set 6, is connected in parallel with original dynamical system, is used
Double dynamical form.When its straight line travels, wheel active drive system 17 does not produce power, only transmits power by motor
Advance；When vehicle driving up, wheel active drive system 17 produces driving force to supplement；When vehicle obstacle detouring such as climbs up curb,
Wheel active drive system 17 produces driving force；When vehicle needs braking, wheel active drive system 17 provides opposite force, with
Auxiliary braking.In view of the additional mass of wheel active drive system 17, the trailing wheel part and front-wheel part of design wheel set 6
Mass values be 2:1.
Brief description of the drawings
Accompanying drawing gives a kind of vehicle for disabled person based on platform control system and supporting happiness car schematic diagram
Fig. 1 is the vehicle for disabled person three-dimensional shaft of a kind of vehicle for disabled person based on platform control system of the invention and supporting happiness car
Mapping
Fig. 2 is a kind of vehicle for disabled person platform control of vehicle for disabled person and supporting happiness car based on platform control system of the present invention
System axonometric drawing processed
Fig. 3 is the vehicle for disabled person chassis system of a kind of vehicle for disabled person based on platform control system of the invention and supporting happiness car
System axonometric drawing
Fig. 4 is the vehicle for disabled person chassis system of a kind of vehicle for disabled person based on platform control system of the invention and supporting happiness car
The front view of system (removing platform control system)
Fig. 5 is the vehicle for disabled person straight line fortune of a kind of vehicle for disabled person based on platform control system of the invention and supporting happiness car
Wheel pattern diagram when dynamic
Fig. 6 is a kind of vehicle for disabled person pirouette of vehicle for disabled person and supporting happiness car based on platform control system of the present invention
To wheel pattern diagram during motion
Fig. 7 is the happiness car schematic diagram of a kind of vehicle for disabled person based on platform control system of the invention and supporting happiness car
Embodiment
Invented referring to the drawings shown in 1, the vehicle for disabled person based on platform control system 3 is by vehicle body 1, manual drive device
2nd, platform control system 3, independent steering system 5, motor driven systems 4, shaft transmission system 7, centralized brakes 8, wheel
Assembly 6, battery 9, Double direct acceleration sensor 10 form.
Referring to the drawings shown in 1, vehicle body 1 is arranged on platform control system 3, and independent steering system 5 is located at platform courses system
Three apexes of system 3, motor are located at the centre position of platform control system 3.Motor is disposed vertically downward, with collection
Chinese style brakes 8 is connected.Shaft transmission system 7 is located at the centralized lower end of brakes 8, power is distributed total to three wheels
Into at 6.Battery 9 is located at the lower end of platform control system 3, to provide electric power.Double direct acceleration sensor 10 is installed on battery 9
End, the acceleration signal moved with collection vehicle；
It is the axonometric drawing of vehicle for disabled person platform control system 3 referring to the drawings shown in 2.Platform control system 3 is by upper mounting plate
11st, multiple degrees of freedom connecting rod 12, displacement inputting apparatus 13, connecting spring 15, displacement transducer 16, lower platform 14 form.Upper mounting plate
11 are shaped as equilateral triangle, and lower platform 14 is shaped as the sector that first half is 85 ° of central angle, latter half is length
600mm, wide 300mm rectangle.Hole is drilled with lower platform 14, to pass through the output end of motor.Multiple degrees of freedom connecting rod 12
Three groups are shared, every group of connecting rod is connected through the hinge by two rod members.The upper end of multiple degrees of freedom connecting rod 12 passes through hinge and upper mounting plate
11 connections, lower end is connected with three displacement inputting apparatus 13 of vertical arrangement.Displacement inputting apparatus 13 is arranged in lower platform 14
Three apexes, with lower platform 14 be connected.By command displacement input unit 13, it can make upper mounting plate 11 that there are six freedom
The motion of degree.Connecting spring 15 is in parallel with displacement transducer 16 to share three sets, connects upper mounting plate 11 and lower platform 14 respectively.
It is the axonometric drawing of vehicle for disabled person chassis system referring to the drawings shown in 3.Platform control system 3 is located at the top, and axle passes
Dynamic system 7, independent steering system 5 and wheel set 6 have three sets, symmetrical centered on its arrangement form.Motor driven systems 4 with
Centralized brakes 8 is connected in series, and is then input in shaft transmission system 7.Wheel active drive system is installed at trailing wheel
17。
It is the front view of vehicle for disabled person chassis system (removing platform control system) referring to the drawings shown in 4.Shown wheel set
For front-wheel part.Master bevel gear 19, upper bevel gear 20 and the upper cardan 21 of wheel set are installed among main casing 18.Epicone
Gear 20 shares three, is engaged with master bevel gear 19, and the projection angle of three upper axis of bevel gear 20 in the horizontal direction is
60°.Upper cardan 21 connects power transmission shaft 22 and upper bevel gear 20.Power transmission shaft 22 the other end connection lower cardan 23, under it is universal
Section 23 is installed at wheel set, while is connected with lower bevel gear 29.Lower bevel gear 29 is meshed with driven wheel of differential 28, turns
The angle of axle 30 is 90 °.Pass through the design of universal driving device so that shaft transmission system is not done when vehicle is turned to
Relate to.Driven wheel of differential 28 is co-axially mounted with lower drive shaft 27, wheel drive bevel gear 26, wheel drive bevel gear 26 and wheel from
Dynamic bevel gear 25 engages, and axis angle is 90 °.Wheel driven wheel of differential 25 is co-axially mounted with wheel 24, i.e. band motor car wheel 24
Rotate, realize the motion of vehicle.The rotating shaft 30 of independent steering system connects wheel set and platform control system, steering motor 31
At rotating shaft 30, rotating shaft 30 can be driven to rotate, and then drive wheel set to rotate, realize steering procedure.
It is vehicle for disabled person wheel movement pattern diagram referring to the drawings shown in 5.As figure be vehicle normal straight traveling when
Wheel movement state.
It is vehicle for disabled person wheel movement pattern diagram referring to the drawings shown in 6.Wheel when such as figure being vehicle pivot stud
Motion state.
It is the vehicle schematic diagram of the supporting happiness car of vehicle for disabled person referring to the drawings shown in 7.Happiness car can front and rear two way,
With two sets of control loops, respectively positioned at the both ends of happiness car, a set of to be available for the system that normal person drives, another set of is applicable
In the control loop of the vehicle for disabled person designed by the present invention；Can 180 degree rotation for one end seat of normal person's control loop.
Claims (8)
1. a kind of vehicle for disabled person based on platform control system and supporting happiness car, it is characterised in that：Vehicle for disabled person composition includes
Vehicle body, manual drive device, platform control system, independent steering system, motor driven systems, shaft transmission system, centralization system
Dynamic system, wheel set, battery, Double direct acceleration sensor；The vehicle for disabled person has three sets of wheel sets, is 65 ° in base angle
Isosceles triangle distribution, three wheels are driving wheel, the double dynamical input of trailing wheel；Vehicle body be installed on platform control system it
On, body gesture is adjustable；Independent steering system is installed between platform control system and wheel set, can be entered by steering motor
Row wheel steering angle independent control；The happiness car matches with vehicle for disabled person.
2. according to the vehicle for disabled person described in claim 1 based on platform control system and supporting happiness car, it is characterised in that：Institute
Platform control system is stated by upper mounting plate, multiple degrees of freedom connecting rod, displacement inputting apparatus, lower platform, connecting spring, displacement transducer group
Into；Displacement transducer is connected in parallel with both connecting springs, shares three groups, both ends connect upper mounting plate and lower platform respectively；More certainly
There are three by degree connecting rod, each connecting rod is made up of two rod members being connected by hinge；The upper end of three connecting rods respectively with it is upper
Platform is connected through the hinge, and three displacement inputting apparatus of the lower end vertical arrangement in direction respectively are connected；Displacement inputting apparatus with
Lower platform is fixedly connected with.
3. according to the vehicle for disabled person described in claim 2 based on platform control system and supporting happiness car, it is characterised in that：It is right
In the platform control system, be controlled by the displacement to displacement inputting apparatus, can drive multiple degrees of freedom connecting rod and then
Drive upper mounting plate to be moved, make platform that there is the free degree of six direction；Decline in upper Chinese herbaceous peony control vehicle body；When vehicle travels
During to uneven bumpy road, by control platform control system, the vehicle body that can be kept upper mounting plate and be attached thereto keeps water
It is flat；When vehicle needs obstacle detouring, during such as upper and lower curb, the center of gravity of vehicle is made forward or backward by the regulation to body gesture；When
During vehicle uphill, downhill, again by the regulation to vehicle center of gravity, change amount of force and side of the seat to disabled person driver
To.
4. according to the vehicle for disabled person described in claim 2 based on platform control system and supporting happiness car, it is characterised in that：Institute
The lower platform for stating platform control system is shaped as, and first half is the sector of 85 ° of central angle, and latter half is long 600mm, wide
300mm rectangle.
5. according to the vehicle for disabled person described in claim 1 based on platform control system and supporting happiness car, it is characterised in that：Institute
State wheel set to be made up of three wheels being distributed in the isosceles triangle that base angle is 65 °, wherein front-wheel there are two, and trailing wheel has one
It is individual；Trailing wheel part increases wheel active drive system, using double dynamical form；When vehicle obstacle detouring such as climbs up curb, wheel master
Dynamic drive system produces driving force；When vehicle needs braking, wheel active drive system provides opposite force, with auxiliary braking；
The mass values of the trailing wheel part and front-wheel part of designing wheel set are 2:1.
6. according to the vehicle for disabled person described in claim 1 based on platform control system and supporting happiness car, it is characterised in that：When
When vehicle is in up-hill position and needs parking, centralized brakes is controlled to play a role first, there is provided parking brake force；And
Afterwards, the corner of three wheels of independent control by 0 respectively to -58.5 °, 57.6 ° and 55 °；Wheel steering angle change gradually subtracts after terminating
Few brake force, when Double direct acceleration sensor measurement is obtained along the downward minimum acceleration in slope, increase by one in turn
Partial brake masterpiece is redundancy.
7. according to the vehicle for disabled person described in claim 1 based on platform control system and supporting happiness car, it is characterised in that：When
Vehicle be in position need parking when, further, the size of independent control wheel steering angle determines that method is, first define three cars
It is respectively θ to take turns corner1,θ2,θ3, preceding wheel assembly quality is m, and rear wheel assembly quality is M, and wheel set is along inclined-plane to lower stress
F ', total longitudinal force are Fd, time t；It is derived by by mechanics, Fd=F ' (cos θ1+cosθ2+cosθ3)；It is disabled to meet
People is parked in up-hill position and is not easy to glide, and determines optimization aim：J=minFd；Determine constraints for three wheel lateral displacements and
For 0, i.e.,
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Optimized by genetic algorithm, obtain optimal value θ1=-1.0214, θ2=1.0191, θ3=0.9588.
8. according to the vehicle for disabled person described in claim 1 based on platform control system and supporting happiness car, it is characterised in that：Institute
The happiness car stated can easily be such that vehicle for disabled person enters wherein by slope；The equal wheeled of the forward and backward both-end of happiness car, there are two sets
Control loop, respectively positioned at the both ends of happiness car, a set of to be available for the system that normal person drives, another set of is suitable for the present invention
The control loop of designed vehicle for disabled person；Can 180 degree rotation for one end seat of normal person's control loop；As normal person oneself
When using the car or carrying vehicle for disabled person driving, the driver in vehicle for disabled person does not control happiness car；When disabled person oneself drives
When, after vehicle for disabled person is got on the bus, it is connected by wireline interface with happiness car, can be directly to good fortune by the control stick in vehicle for disabled person
Happiness car is controlled, and is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710898765.5A CN107628165B (en) | 2017-09-28 | 2017-09-28 | Disabled person car and supporting well-being car based on platform control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710898765.5A CN107628165B (en) | 2017-09-28 | 2017-09-28 | Disabled person car and supporting well-being car based on platform control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107628165A true CN107628165A (en) | 2018-01-26 |
| CN107628165B CN107628165B (en) | 2023-05-09 |
Family
ID=61102767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710898765.5A Active CN107628165B (en) | 2017-09-28 | 2017-09-28 | Disabled person car and supporting well-being car based on platform control system |
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| Country | Link |
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| CN (1) | CN107628165B (en) |
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| CN109131630A (en) * | 2018-08-28 | 2019-01-04 | 中科新松有限公司 | A kind of control method of composite machine people and composite machine people |
| CN111497979A (en) * | 2020-06-08 | 2020-08-07 | 马晓君 | Welfare tricycle with movable driving seat |
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| CN107628165B (en) | 2023-05-09 |
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