CN107898567B - Have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function - Google Patents
Have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function Download PDFInfo
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- CN107898567B CN107898567B CN201711101631.2A CN201711101631A CN107898567B CN 107898567 B CN107898567 B CN 107898567B CN 201711101631 A CN201711101631 A CN 201711101631A CN 107898567 B CN107898567 B CN 107898567B
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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
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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
- A61G5/10—Parts, details or accessories
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1072—Arrangements for adjusting the seat rotating the whole seat around a vertical axis
-
- 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
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
-
- 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
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
- A61G7/1059—Seats
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provide it is a kind of have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function, including wheelchair car body, seat, seat movement mechanism, backrest regulating mechanism, the armrest mechanism and barrier getting over mechanism for capableing of folding and unfolding.Retractable armrest mechanism includes handrail, connecting rod and right angle bar.Seat movement mechanism includes seat, motor, belt wheel, synchronous belt, slider connecting plate, crank, connecting rod, sliding block, sliding rail.Backrest regulating mechanism includes motor, belt wheel, synchronous belt, straight spur gear, backrest.Barrier getting over mechanism includes two swing rods, steamboat, motor, retarder, helical gears, while backrest regulating mechanism and barrier getting over mechanism are driven using the same motor and electromagnetic clutch come timesharing.Obstacle crossing function of the invention can cross over the obstacle of 20cm height, and the present invention carries out operation control convenient for user, improves the freedom of motion of patient, reduce the exercise intensity of patient, reduce the work load of family members.
Description
Technical field
The present invention relates to a kind of wheelchair more particularly to a kind of have the function of that auxiliary is gone to bed and the Electric Motor Wheel of obstacle crossing function
Chair.
Background technique
Electric wheelchair is primarily adapted for use in disabled person, medical rehabilitation patient, old and weak etc. as a kind of novel walking-replacing tool
Handicapped special population.In contrast to traditional manual wheelchair, electric wheelchair is more convenient and easily operated, thus obtains more
It is widely applied.At present in widely used electric wheelchair, the use of most of electric wheelchairs needs user independently upper and lower
Wheelchair, and there are very limited for the group of obstacle by this process patient and action disease serious for part；Work as use
Person wants to be transferred on bed from wheelchair when carrying out rest, only assists just being able to achieve movement by external force；Meanwhile for there is obstacle
Road surface, common electric wheelchair wants simultaneously to generate very big impact by needing to apply very big power, this will be to patient's
Body causes very big injury.Therefore, designing one kind can assist user to complete mobile (including upper and lower wheelchair and go to bed)
And the electric wheelchair with obstacle crossing function is necessary.
Summary of the invention
The purpose of the invention is to provide a kind of to have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function.
The object of the present invention is achieved like this: including wheelchair frame, seat, backrest, two front-wheels and two rear-wheels, also
Pass through Seat support including retractable armrest mechanism, seat side movement mechanism, backrest regulating mechanism and barrier getting over mechanism, seat
Plate is arranged in wheelchair frame, and rolling element is provided between seat and seat support, and the wheelchair frame rear is also set up
There are bracket, the two sides that the retractable armrest mechanism there are two sets, is separately positioned on wheelchair frame, every retractable handrail machine of set
Structure include the first connecting rod and second connecting rod hinged with wheelchair frame, simultaneously with first connecting rod and second connecting rod upper end are hinged helps
Hand, a rotatable right angle bar is additionally provided on first connecting rod, and handrail lower end is provided with the groove for accommodating right angle bar；The seat
Side movement mechanism includes the transverse slat being arranged in wheelchair frame, and transverse slat is located at under-seat, is provided with sliding rail on transverse slat, sliding
Sliding block is installed on rail, the mobile follower link of seat is hinged on sliding block, the end of the mobile follower link of seat is hinged with seat
The middle position of mobile drive connecting rod, the mobile follower link of seat is connected by connector and seat lower end, the Seat support
Plate lower end is additionally provided with a big synchronous pulley shaft and a small synchronous pulley axis, distinguishes on big synchronous pulley shaft and small synchronous pulley axis
Big synchronous pulley and small synchronous pulley are installed, synchronous belt, small synchronous belt are provided between big synchronous pulley and small synchronous pulley
Wheel shaft is connect with the output end of motor one, and big synchronous pulley shaft and the end of the mobile drive connecting rod of seat are hinged；The seat
It is provided with connecting plate below support plate, motor two is installed on connecting plate, the output end of motor two is connected with retarder, slows down
The both ends of the output shaft of device are respectively arranged with an electromagnetic clutch；Backrest regulating mechanism includes the large straight gear that bracket part is arranged in
Rotation axis, the large straight gear that large straight gear rotation axis both ends are arranged in, the small Spur gear rotation axis that bracket part is arranged in, setting exist
The small Spur gear at small Spur gear rotation axis both ends, is arranged in wheelchair frame the first pulley being arranged in love small Spur gear rotation axis
The second belt wheel transmission axis on frame, be mounted on second on wheel shaft the second belt wheel, be arranged in first pulley and the second band
Transmission belt between wheel, two large straight gears and two small Spur gears engage respectively, and the backrest and large straight gear rotation axis are solid
Even；Barrier getting over mechanism include the bevel pinion transmission shaft being arranged in wheelchair frame and large helical gear transmission shaft, be separately positioned on it is small
Helical gear Transmission axis and bevel pinion and large helical gear on large helical gear transmission shaft, bevel pinion and large helical gear engagement, greatly
The both ends of Helical gear Transmission axis are respectively arranged with swing rod, and the end of each swing rod is provided with small support wheel, described two clutches
Movement connect the output shaft of retarder with wheel shaft with second, the output shaft of retarder and bevel pinion transmission shaft connect
It connects.
The invention also includes structure features some in this way:
1. the motion track of the seat is circular arc type track.
Compared with prior art, the beneficial effects of the present invention are: the present invention is that user can be assisted to go to bed and had
Have an electric wheelchair of obstacle crossing function, whole system be by wheelchair frame, seat, seat movement mechanism, backrest regulating mechanism, can
The armrest mechanism and barrier getting over mechanism of folding and unfolding form.Wheelchair frame is that steel-pipe welding is formed, and is by two root posts pipe, four horizontal circles
Pipe, two lower square tubes are welded to form.It can include handrail, connecting rod and right angle bar with the armrest mechanism of folding and unfolding.Seat movement mechanism packet
Include seat, motor, belt wheel, synchronous belt, slider connecting plate, drive connecting rod, follower link, sliding block, sliding rail.Backrest regulating mechanism
Including motor, belt wheel, synchronous belt, straight spur gear, backrest.Barrier getting over mechanism includes two swing rods, small support wheel, electronic
Machine, retarder, helical gear, while backrest regulating mechanism and barrier getting over mechanism are driven using the same motor and electromagnetic clutch come timesharing
It is dynamic.The present invention can complete facing upward conjunction and capable of crossing simple barrier for the seat of the wheelchair mobile and adjustable backrest to side
The function of hindering, obstacle crossing function can cross over the obstacle of 20cm height, and patient can realize autonomous go to bed by operation panel
Function.The control mode of electric wheelchair has control 2 kinds of modes of box and cell phone application software, using Bluetooth wireless transmission mode.Control
Box has mode selection button, starts/stop key, the rocking bar that reset key and omnidirection are mobile.Mode key is used to select
3 kinds of seat movement, backrest adjusting/obstacle detouring and electric wheelchair modes, carry out operation control convenient for user, improve the fortune of patient
Dynamic freedom degree, reduces the exercise intensity of patient, reduces the work load of family members.
Application environment of the invention is hospital and family, and can complete handrail and put down function, seat lateral movement function
Energy, backrest regulatory function, obstacle crossing function, the operation of electric wheelchair, the lateral movement of seat, backrest adjusting movement and obstacle detouring function
It can be controlled by control box or mobile phone, patient can be made automatically wheelchair and to go to bed up and down, it is easy to operate, improve disease
The freedom of motion of people reduces the exercise intensity of patient, reduces the work load of family members.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention a；
Fig. 2 is structural schematic diagram b of the invention；
Fig. 3 is left view structural representation of the invention；
Fig. 4 is seat support structure schematic diagram of the invention；
Fig. 5 is the structural schematic diagram a that seat of the invention is displaced sideways device；
Fig. 6 is the structural schematic diagram b that seat of the invention is displaced sideways device；
Fig. 7 is the structural schematic diagram c that seat of the invention is displaced sideways device；
Fig. 8 is the structural schematic diagram d that seat of the invention is displaced sideways device；
Fig. 9 is barrier getting over mechanism schematic diagram of the invention；
Figure 10 is that motor timesharing of the invention drives backrest to adjust the structural schematic diagram with barrier getting over mechanism；
Figure 11 is control program figure of the invention；
Figure 12 is control box interface of the invention and cell phone application interface display diagram.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
In conjunction with Fig. 1~12, patient can be assisted to go to bed and the electronic of backrest regulatory function and obstacle crossing function can be completed
Wheelchair, including wheelchair frame 1, retractable armrest mechanism, seat side movement mechanism, backrest regulating mechanism and barrier getting over mechanism.
The armrest mechanism that can complete draw-in and draw-off function includes handrail 6, first connecting rod 8, right angle bar 7, second connecting rod 9, handrail 6
It is connect between first connecting rod 8 using pin 11,8 lower section of first connecting rod is carried out with the hole on the boss 12 of wheelchair frame 1
Pin connection, boss 12 and wheelchair steelframe 1 are soldered, right angle bar 7 and first connecting rod 8 when handrail 6 is in a vertical state
It blocks, right angle bar 7 need to be only pressed into the groove of 6 lower section of handrail when needing handrail 6 to put down.
Seat side movement mechanism includes motor 1, small synchronous pulley 28, big synchronous pulley 29, slider connecting plate
16, the mobile drive connecting rod 18 of seat, seat mobile follower link 17, sliding block 15, sliding rail 14, sliding rail 14 are placed on wheelchair frame 1
On one piece of transverse slat 13 on, by being welded to connect, sliding rail 14 is connected with transverse slat 13 with fillister head screw for transverse slat 13 and wheelchair frame 1
It connects, sliding block 15 is connected on sliding rail 14, and small synchronous pulley 28 is mounted on vertical small synchronous pulley axis 32, small synchronous pulley axis
32 two sides are supported by angular contact ball bearing, and small synchronous pulley axis and bearing are mounted on the stretching plate below seat support 10
And in floor 31, big synchronous pulley 29 and big synchronous 51 mounting means of pulley shaft similarly, the mobile drive connecting rod 18 of seat with
Big synchronous pulley 29 is located on same axis, using key connection, the mobile drive connecting rod 18 of seat and the mobile follower link 17 of seat
It is linked by pin, the mobile follower link 17 of seat is connect with slider connecting plate 16 by bearing, slider connecting plate 16 and sliding block
15 are connected by sunk screw, and seat 19 is fixed in the mobile follower link 17 of seat, and is supported by support plate 10, seat
Pass through toothed belt transmission, song similar to the structure of rolling bearing using rolling friction between chair 19 and seat support 10
Handle slide block mechanism completes the lateral movement of seat；
Backrest regulating mechanism includes motor 2 26, retarder 27, first pulley 5, big straight spur gear 3, backrest 2,
Backrest 2 is fixedly connected with large straight gear rotation axis 4, and first pulley 5 and small straight tooth column wheel 45 pass through the shaft shoulder and sleeve, retaining ring
Etc. be located on small Spur gear transmission shaft 46,46 two sides of small Spur gear transmission shaft are mounted in the floor 34 of wheelchair frame 1,
Motor 2 26 is fixed on the connecting plate of 10 lower section of seat support, and the second belt wheel 43 and the transmission shaft 47 at place are connected using key
It connects, the transmission shaft 47 where the second belt wheel 43 is supported by angular contact ball bearing, and reducer output shaft 48 passes through electromagnetic clutch
41 connect with the second belt wheel transmission axis 47, are passed by the engagement of reducer output shaft 48 and the second belt wheel transmission axis 47, synchronous belt
The adjusting of the angle of backrest is completed in dynamic, gear drive；
Barrier getting over mechanism includes two swing rods 24, small support wheel 25, motor 26, retarder 27, large helical gear 23, small helical teeth
Wheel 50, swing rod 24 and large helical gear transmission shaft 22 are connected using square hole, and 22 two sides of large helical gear transmission shaft are supported by bearing,
Both ends are mounted in mechanism shell 21, are engaged and are passed by helical gear between large helical gear transmission shaft 22 and bevel pinion transmission shaft 49
Dynamic, bevel pinion transmission shaft 49 is supported by bearing, and 26 axis of motor is inserted into retarder 27, bevel pinion 50 and bevel pinion
Transmission shaft 49 passes through electromagnetic clutch 41 and small helical teeth using key connection, bevel pinion transmission shaft 49 and the output shaft 48 of retarder
Wheel shaft 49 connects, and pendulum is realized by the engagement of reducer output shaft 48 and bevel pinion transmission shaft 49, Helical gear Transmission
The swing of bar makes small support wheel 25 that front-wheel be supported to complete obstacle crossing function.
The motion track that the seat side movement mechanism seat 19 is completed is circular arc type track, is translated in seat 19
While complete certain angle rotation, the track completed is realized by slider-crank mechanism, seat movement it is driven
The midpoint of connecting rod 17 is fixedly connected with seat 19, and seat 19 is towards the normal direction for being always motion profile.
In order to install small synchronous pulley axis 32, bearing (setting) plate 31 is welded, below support plate 10 for installing angular contact
Bearing is to support small synchronous pulley axis 32.
Guide rail 14 installs travel switch in the mobile side of sliding block 15, prevents the dead-centre position of slider-crank mechanism.
Seat support 10 is rounded shapes in seat backhaul side, and Convenient chair scrolls beneath body 37 is in return course
It is easy and rapidly slides onto seat support 10.
The overall length of guide rail 14 selects suitable length according to trajectory analysis in order to complete maximum movement travel；Seat
The mobile drive connecting rod 18 of chair and mobile 17 length value of follower link of seat are all in accordance with wheelchair overall space size and seat travel
It is required that determine.
Sliding rail 14 is installed on the connection transverse slat 13 of wheelchair frame, slider-crank mechanism, seat are installed below seat 19
19 are supported in seat support 10, and rolling element 37 and support plate 10 are tangent, and countersunk head spiral shell is used between seat 19 and support frame 36
Nail connects, and ball is paved in the groove between rolling element 37 and support rod 36, for completing rolling friction.
In conjunction with Figure 11 and Figure 12 a and Figure 12 b, controls box interface and include model selection, electromagnetic clutch, reset, brake, open
Move/stop key and the mobile rocking bar in direction and status indicator lamp, model selection be used to select seat is mobile, backrest adjust/more
Barrier and electric wheelchair Three models, electromagnetic clutch are applied to the combination of selection clutch and small pulley or pinion gear, backrest
When adjusting, barrier getting over mechanism is failure to actuate, the state that other situations work all in barrier getting over mechanism, is adjusted and is crossed over to reach backrest
The purpose of obstacle timesharing driving, reset key are used to recovery system original state, and cell phone application interface includes the choosing of each mode
It selects, start, stopping, resetting and direction controlling key, control box and smart phone pass through the bluetooth mould in bluetooth and electric wheelchair
Block carries out wireless communication, and controller uses embedded system, and the control of wheelchair is completed by two ARM, and bluetooth module passes through serial ports
It is communicated with ARM1, while ARM1 also controls wheel chair motor, wheel chair motor retarder is equipped with encoder and current sense
Device completes differential driving for measuring speed feedback signal to ARM1.In addition there are emergency stop protections, are equipped in two near rear wheels
Travel switch stops wheelchair in time when detecting obstacle.ARM1 and ARM2 carries out data interaction, ARM2 control by CAN bus
Backrest processed/obstacle detouring motor and seat mobile motor are equipped with current sensor at backrest/obstacle detouring motor and seat mobile motor
With encoder, for measuring revolving speed and corner feeds back to ARM2, at the same backrest, obstacle detouring oscillating rod, seat mobile route most
Travel switch is installed at big stroke both ends, is selected Hall switch in the present invention, is stopped each mechanism in time when reaching range,
Travel switch and sensor all feed back to position, rotary speed information in ARM.
Referring to Fig. 9,10, user will electric wheelchair through the invention when going to bed, entire frame is passed through first
Rear wheel drive rests in bedside, the right angle bar 7 on front side of retractable handrail linkage is pressed into the groove of 6 lower end of handrail,
Then it draws forward and puts down handrail 6, make its height lower than 10 height of support plate, avoid the interference being displaced sideways to seat 19；So
Seat side movement mechanism is run afterwards, and motor 1 starts, and will move from small synchronous pulley 28 by synchronous belt and reaches Datong District
Belt wheel 29 is walked, big synchronous pulley 29 is finally transmitted to the mobile follower link of seat with mobile 18 common rotation of drive connecting rod of seat
17 compound motion realizes that the circle arc curve track at 19 center of seat is mobile, and hereafter, user can be laterally moved into bed
On, it needs to be moved fully on bed by the support of arm, it is contemplated that the problem of user's lower limb inconvenience, this arc-shaped track
The interference of leg can effectively be avoided.If user needs to return on electric wheelchair, it is firstly moved to bedside, is then led to
The support for crossing arm is moved on seat 19, and both legs are placed on seat direction, and by lower switch, motor reversal drives seat
Mobile follower link 17 is completed reverse track with seat 19 and is moved, and final seat 19 returns initial position, and sliding block 15 is in guide rail
14 middle positions rise handrail 6 then up, right angle bar 7 and first connecting rod 8 are blocked.User will electricity through the invention
When wheelchair is completed backrest and adjusted, starting motor and electromagnetic clutch 41 engages it with the second belt wheel 43 first, drive the
The rotation of two pulley shafts 47, first pulley 5, which rotates with it and will move through straight spur gear 3,45, is transferred to large straight gear biography
Moving axis 4, backrest 2 and large straight gear transmission shaft 4 rotate together, and family can be used and achieve the purpose that layback.When wheelchair is being run
In the process, when needing the purpose of the lower obstacle of wheelchair completion leap through the invention, start motor 26 first, pass through deceleration
Device 27 and electromagnetic clutch 41 engage it with bevel pinion 50, then drive large helical gear transmission by the transmission of large helical gear 23
Axis 22 rotates, and 22 both ends of large helical gear transmission shaft are connect with oscillating rod 24 by square hole, and oscillating rod 24 rotates with it, by small
Support wheel 25 gets up front wheel supporting, because to complete the movement of larger torque, needs biggish 26 power of motor and subtracts
Fast device 27 slows down to complete simple obstacle crossing function, obstacle clearing capability 20cm.
The present invention be can assist user complete go to bed function and complete obstacle crossing function electric wheelchair, total system by
Wheelchair frame, seat, seat side movement mechanism, handrail jack, backrest regulating mechanism, barrier getting over mechanism composition, wheelchair frame
Frame is made of two root posts pipe, four horizontal round tubes, two lower square tubes, and four horizontal round tubes are symmetrically distributed in the two sides of wheelchair, and two
Square tube is distributed in the front and back of the horizontal round tube of downside under root, and two root posts pipe is distributed in the left side and the right side of frame symmetry axis
Side, it is characterized in that: electric wheelchair also have the function of to can be realized handrail draw-in and draw-off function, seat lateral movement, backrest regulatory function,
The mechanism of obstacle crossing function；
The armrest mechanism that can complete draw-in and draw-off function includes handrail, connecting rod, right angle bar, is adopted between handrail and connecting rod
It is pin connection, is connect with the hole on the boss of wheelchair steelframe by pin below connecting rod, boss and wheelchair steelframe is weldering
Completion is connect, right angle bar and connecting rod block when handrail is in a vertical state, and right angle bar is pressed into the slot below handrail can be real
Existing handrail is put down；
The seat side movement mechanism includes motor, belt wheel, synchronous belt, slider connecting plate, drive connecting rod, driven
Connecting rod, sliding block, sliding rail, sliding rail are placed on one piece of transverse slat in wheelchair frame, and transverse slat and wheelchair frame are sliding by being welded to connect
Rail and transverse slat are connected with fillister head screw, and sliding block moves on the slide rail, and synchronous pulley is mounted on vertical axis, and two sides pass through angle
Contact ball bearing bearing, seat moves drive connecting rod and first pulley is located on same axis, is moved using key connection, seat
Driving and driven connecting rod is linked by pin, and seat is fixed in follower link, and is supported by support plate, seat and seat
Using rolling friction between support plate, similar to the structure of rolling bearing, slider connecting plate is connected by screw to sliding block,
The lateral movement of seat is completed by toothed belt transmission, slider-crank mechanism；In addition, by motion analysis, seat movement
Influence of the drive connecting rod length value variation to seat lateral movement stroke is smaller than the variation of follower link length value influence, seat
Towards the normal direction for the curvilinear motion track for being always follower link center, rotational angle is bigger with the length of follower link
And it is gradually reduced.
The backrest regulating mechanism includes motor, belt wheel, synchronous belt, straight spur gear mechanism, backrest, backrest with
Bull gear drive axis is fixedly connected, and small pulley and pinion gear be located on transmission shaft by the shaft shoulder and sleeve, retaining ring etc.,
Motor is fixed on the connecting plate below seat support, and motor reducer is connected with electromagnetic clutch, in control panel
Control switch can control the engagement of clutch and small pulley, and the angle of backrest is completed by toothed belt transmission, gear drive
Adjusting.
The barrier getting over mechanism includes two swing rods, small support wheel, motor, retarder, helical gear, swing rod and greatly transmission
Axis is connected using square hole, and big drive shaft two sides are supported by bearing, is nibbled between big drive shaft and small transmission shaft by helical gear
Transmission is closed, small transmission shaft two sides are supported by bearing, and small transmission shaft is connect by electromagnetic clutch with retarder, and motor reel is inserted
Enter in retarder, the control switch in control panel can control the engagement of clutch and pinion gear, by retarder transmission and
Helical gear Transmission realizes the swing of swing rod, passes through small support wheel front-wheel is supported to complete obstacle crossing function.
The control mode of electric wheelchair has control 2 kinds of modes of box and cell phone application software, using Bluetooth wireless transmission mode.
Controller uses embedded system, and the control of wheelchair is completed by 2 ARM.Wherein ARM1 is completed and control box or mobile communication, wheel
The driving of chair motor, ARM2 control backrest/obstacle detouring motor and seat mobile motor, control information by ARM1 and pass through CAN bus
It sends.Control program is expressed in subsequent drawings.Control box have mode selection button, start/stop key, reset key and
The mobile rocking bar of omnidirection.Mode key is used to select 3 kinds of seat movement, backrest adjusting/obstacle detouring and electric wheelchair modes, patient
It only needs hand-held control box that can be remotely controlled to each function of electric wheelchair, multiple sensors is also equipped on electric wheelchair
And limit switch, the dead point of crank block in order to prevent in seat side movement mechanism are all pacified at the both ends of seat motion track
Equipped with travel switch；The travel switch of backrest regulating mechanism and barrier getting over mechanism also restricted range；This electric wheelchair two
Encoder is installed on rear wheel drive motor, is used to measuring speed in order to differential driving；Wheelchair frame rear is equipped with ultrasound
Wave sensor prevents from bumping against in rear obstacle when reversing.
The invention also includes:
Patient is assisted to go to bed and complete the electric wheelchair of obstacle crossing function described in 1., it is characterized in that: the wheelchair frame
Sliding rail is installed, sliding block is installed on the slide rail, and seat is connect with the mobile follower link of seat, connecting rod connection on the connection transverse slat of frame
On slider connecting plate, slider connecting plate is connect with sliding block by sunk screw, and seat is supported by seat support.
Patient is assisted to go to bed and complete the electric wheelchair of obstacle crossing function described in 2., it is characterized in that: the seat
Mobile mechanism and the same motor of backrest regulating mechanism and electromagnetic clutch timesharing drive, the seat movement mechanism
Sliding rail is parallel with the surface of backrest.
Patient is assisted to go to bed and complete the electric wheelchair of obstacle crossing function described in 3., it is characterized in that: seat bottom surface is high
Degree is higher than support plate height, and under-seat installs buphthalmos wheel mechanism, and rolling element is tangent with support plate, on the surface of seat support
Sensor is set to be limited, it is mobile to side to realize to follow the movement of follower link by seat.
Patient is assisted to go to bed and complete the electric wheelchair of obstacle crossing function described in 4., it is characterized in that: under support plate
Side, which is stretched out on plate, is welded with floor, there is the hole of different-diameter on floor, for installing bearing and completing the installation to motor, wheel
Chair frame sides are also welded with boss, and hole is provided on boss, is connect by pin with ribbed insert in hole, by being inserted into or tearing open
Except the fixation and disengagement of connecting rod and boss can be realized in pin, guide rail is mounted on transverse slat, is connected by countersunk head fillister head screw.
Patient is assisted to go to bed and complete the electric wheelchair of obstacle crossing function described in 5., it is characterized in that: barrier getting over mechanism packet
Two swing rods, small support wheel, motor, retarder, helical gear are included, swing rod is connected with big drive shaft using square hole, big to be driven
Axis two sides are connected by bearing, and by helical gear engaged transmission between big drive shaft and small transmission shaft, small transmission shaft two sides pass through
Bearing bearing, small transmission shaft are connected by electromagnetic clutch with retarder, and motor reel is inserted into retarder, in control panel
Control switch can control the engagement of electromagnetic clutch and pinion gear, realize swing rod by retarder transmission and Helical gear Transmission
Swing, pass through small support wheel support front-wheel complete obstacle crossing function.
Patient is assisted to go to bed and complete the electric wheelchair of obstacle crossing function described in 6., it is characterized in that: controller uses
Embedded system controls electric wheelchair by two ARM, and main function is: (1) receiving the control of control box and cell phone application
System instructs and executes corresponding control program, returns to wheelchair state；(2) drive wheel chair motor, seat mobile motor, backrest/more
Hinder motor；(3) safeguard protection of software and hardware.ARM1 receives the wireless blue tooth signal of control box and mobile phone and drives wheelchair
The motor of two rear-wheels carries out differential driving, with functions such as software and hardware emergency stop protections, while being counted with ARM2 by CAN bus
According to interaction, ARM2 drives backrest/obstacle detouring motor and seat to be displaced sideways motor, with functions such as emergency stop protections, improves electronic
The safety of wheelchair operation.
7. the patient that assists described in goes to bed and completes the electric wheelchair of obstacle crossing function, it is characterized in that: controlling box and intelligence
Energy mobile phone has played following main function: (1) selecting the seat movement, backrest adjusting and 3 kinds of modes of electric wheelchair of wheelchair；(2)
Bluetooth module, remote control electric wheelchair are sent information to by bluetooth approach；(3) the current kinetic shape of electric wheelchair is shown
State enhances the human-computer interaction of electric wheelchair.
Claims (2)
1. have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function, including wheelchair frame, seat, backrest, two front-wheels,
Two rear-wheels, retractable armrest mechanism, seat side movement mechanism, it is characterised in that: further include backrest regulating mechanism and more
Hindering mechanism, seat is arranged in wheelchair frame by seat support, and rolling element is provided between seat and seat support,
The wheelchair frame rear is additionally provided with bracket, and the retractable armrest mechanism has two sets, is separately positioned on wheelchair frame
Two sides, every retractable armrest mechanism of set include the first connecting rod and second connecting rod hinged with wheelchair frame, simultaneously with first connect
Bar and second connecting rod upper end hinged handrail are additionally provided with a rotatable right angle bar on first connecting rod, and handrail lower end is provided with
Accommodate the groove of right angle bar；The seat side movement mechanism includes the transverse slat being arranged in wheelchair frame, and transverse slat is located at seat
Below chair, it is provided with sliding rail on transverse slat, sliding block is installed on sliding rail, the mobile follower link of seat is hinged on sliding block, seat moves
The end of dynamic follower link is hinged with the mobile drive connecting rod of seat, the middle position of the mobile follower link of seat by connector with
Seat lower end is connected, and the seat support lower end is additionally provided with a big synchronous pulley shaft and a small synchronous pulley axis, big synchronous
Big synchronous pulley and small synchronous pulley, big synchronous pulley and small synchronous pulley are separately installed on pulley shaft and small synchronous pulley axis
Between be provided with synchronous belt, small synchronous pulley axis is connect with the output end of motor one, big synchronous pulley shaft and seat is mobile leads
The end of dynamic connecting rod is hinged；It is provided with connecting plate below the seat support, motor two, motor two are installed on connecting plate
Output end be connected with retarder, the both ends of the output shaft of retarder are respectively arranged with an electromagnetic clutch；Backrest regulating mechanism
Including the large straight gear rotation axis that bracket part is arranged in, the large straight gear that large straight gear rotation axis both ends are set, it is arranged in elbow
The small Spur gear rotation axis of plate, is arranged in small Spur gear rotation axis the small Spur gear that small Spur gear rotation axis both ends are arranged in
On first pulley, be arranged in wheelchair frame the second belt wheel transmission axis, be mounted on second with the second band on wheel shaft
The transmission belt taken turns, be arranged between first pulley and the second belt wheel, two large straight gears and two small Spur gears engage respectively, institute
It states backrest and large straight gear rotation axis is connected；Barrier getting over mechanism include the bevel pinion transmission shaft that is arranged in wheelchair frame and it is big tiltedly
Gearing shaft is separately positioned on bevel pinion transmission shaft and bevel pinion and large helical gear on large helical gear transmission shaft, small
Helical gear and large helical gear engagement, the both ends of large helical gear transmission shaft are respectively arranged with swing rod, and the end of each swing rod is provided with
Small support wheel, described two clutch operatings connect the output shaft of retarder with wheel shaft with second, retarder
Output shaft and bevel pinion are driven axis connection.
2. according to claim 1 have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function, it is characterised in that: institute
The motion track for stating seat is circular arc type track.
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| CN201711101631.2A CN107898567B (en) | 2017-11-10 | 2017-11-10 | Have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function |
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| CN201711101631.2A CN107898567B (en) | 2017-11-10 | 2017-11-10 | Have the function of that auxiliary is gone to bed and the electric wheelchair of obstacle crossing function |
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| CN107898567A CN107898567A (en) | 2018-04-13 |
| CN107898567B true CN107898567B (en) | 2019-08-06 |
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| CN109350383B (en) * | 2018-12-17 | 2021-06-29 | 珠海市研泰电子科技有限公司 | Gyroscope-based wheelchair sitting posture balancing system |
| CN112569057A (en) * | 2019-09-27 | 2021-03-30 | 上海尊颐智能科技有限公司 | Operation control method and operation control system of energy auxiliary device |
| CN112076032B (en) * | 2020-10-16 | 2021-08-24 | 鹤壁市人民医院 | Intracardiac branch of academic or vocational study nursing bed |
| CN216628950U (en) * | 2020-11-09 | 2022-05-31 | 中国计量大学 | Integrative device of supplementary inconvenient old man's of leg and foot bed chair |
| CN113520737A (en) * | 2021-04-27 | 2021-10-22 | 湖州职业技术学院 | Rehabilitation wheelchair capable of freely steering |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
| CN113975015B (en) * | 2021-10-25 | 2023-11-17 | 河北工业大学 | Separable integrated multifunctional nursing bed and chair |
| CN117224332B (en) * | 2023-11-10 | 2024-02-06 | 江苏浙泰机电科技有限公司 | Nursing bed for patient |
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| CN107898567A (en) | 2018-04-13 |
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