CN110974562A - Convenient and old intelligent wheelchair - Google Patents
Convenient and old intelligent wheelchair Download PDFInfo
- Publication number
- CN110974562A CN110974562A CN201911268197.6A CN201911268197A CN110974562A CN 110974562 A CN110974562 A CN 110974562A CN 201911268197 A CN201911268197 A CN 201911268197A CN 110974562 A CN110974562 A CN 110974562A
- Authority
- CN
- China
- Prior art keywords
- fixed
- shaft
- box body
- chassis
- chair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001360 synchronised effect Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 8
- 239000008280 blood Substances 0.000 claims abstract description 8
- 210000004369 blood Anatomy 0.000 claims abstract description 8
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 8
- 239000001301 oxygen Substances 0.000 claims abstract description 8
- 239000003814 drug Substances 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 abstract description 2
- 230000036541 health Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 238000005286 illumination Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 229940079593 drug Drugs 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- A61G5/066—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 with endless belts
-
- 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
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
- A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
- A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
- A61J7/0481—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers working on a schedule basis
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
Abstract
The invention discloses an old-fashioned intelligent wheelchair, which comprises a switching mechanism, a chassis arranged in the switching mechanism, synchronous crawler wheels arranged on two sides of the chassis, a chair connected on the chassis, box bodies arranged on two sides of the chair, and a pedal connected to the front end of the chair; the box body comprises a left box body and a right box body, wherein a manipulator for grabbing objects is arranged in the left box body, the manipulator is enabled to grab through the remote sensing module and the stm32 controller, and the right box body is provided with a blood oxygen heart rate module and an LCD screen for monitoring and displaying the physical condition of the old; the invention has the functions of switching the moving mode, grabbing the mechanical arm and monitoring the body health.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an old-fashioned intelligent wheelchair.
Background
At present, the base number of the elderly is continuously increasing, and for the elderly with a certain age, the need for the elderly assistance mechanism is increasing. Meanwhile, many old people live separately from young people, so that the young people can hardly know the real-time situation of the environment where the old people are located. The old-age assisting machine aims at solving the problems that the old people normally walk, sit and stand, grab articles and the like.
For the prior art in the field of wheelchair vehicles, for example, patent publication No. CN108670595A discloses a multifunctional wheelchair, which comprises a mechanical arm and a functional component, wherein the functional component comprises a component seat with a display screen, a user can use the display screen to perform operations such as navigation and entertainment, the back of the component seat can be used as a storage platform or an object taking tray, and the mechanical arm and the functional component can be folded, so that the mechanical arm and the functional component can be stored when the multifunctional wheelchair is not needed to be used, and the influence on the normal use of the user or the shielding of the visual field can be prevented. The multifunctional wheelchair can improve the independent ability of the disabled, so that the disabled can independently complete some operations. But the mechanical arm can not grab the object, and the old people can sit on the wheelchair, and the smooth stair climbing can not be realized. Therefore, in order to facilitate the daily life of the elderly, a wheelchair capable of controlling smooth stair climbing and flat ground walking is needed, and meanwhile, the wheelchair capable of controlling the manipulator to help the elderly to grab the object is needed.
Disclosure of Invention
The invention provides an old-fashioned intelligent wheelchair, which aims to provide a wheelchair with functions of switching between stair climbing and flat ground movement, controlling a mechanical arm to be convenient to grab, intelligently illuminating in a dark place, regularly reminding taking medicine and monitoring body health.
In order to solve the above technical problem, an embodiment of the present invention provides an intelligent wheelchair for the old and convenient people, including: the automatic wheel-hub machine comprises a switching mechanism for switching the movement of a track and a wheel-hub motor, a chassis arranged in the switching mechanism, synchronous track wheels arranged on two sides of the chassis, a chair connected to the chassis, box bodies arranged on two sides of the chair, a manipulator arranged in the box body on one side, and a pedal connected to the front end of the chair;
the switching mechanism comprises universal wheel fixing frames and hub motor fixing frames which are arranged on two sides, universal wheels are connected to the bottoms of the universal wheel fixing frames, hub motors are arranged on hubs at the bottoms of the hub motor fixing frames, the universal wheel fixing frames on each side are connected with the upper ends and the lower ends of the corresponding hub motor fixing frames through connecting rod tongue-and-groove joints respectively, and bolts are arranged at the joints for fixing; a first fixed shaft is arranged between the universal wheel fixing frames on the two sides, a second fixed shaft and a switching shaft are arranged between the two wheel hub motor fixing frames, the switching shaft is arranged above the second fixed shaft, and first guide grooves are formed in the joints of the wheel hub motor fixing frames on the two sides and the switching shaft; the chassis is sleeved on the first fixed shaft, the second fixed shaft and the switching shaft, and a second guide groove is formed at the joint of the chassis and the switching shaft; the middle part of the switching shaft is connected with one end of a first push rod through a sleeve, the first push rod is an electric push rod, the other end of the first push rod is fixed in a push rod fixing block, and two ends of the push rod fixing block are fixed at the external corner in the chassis;
the base plate is T-shaped, a chair fixing block is fixed in the middle of the top end of the base plate, an articulated piece is fixed at the top of the chair fixing block, and bearing seat holes are horizontally formed in the lower parts of the front ends of the two sides of the base plate; two direct-current worm and gear reduction motors and a first battery are arranged inside the chassis, the crankshaft of each direct-current worm and gear reduction motor is aligned to a bearing seat hole, each direct-current worm and gear reduction motor is electrically connected with the corresponding first battery, and each direct-current worm and gear reduction motor is connected with the corresponding synchronous crawler wheel on the two sides; the synchronous crawler wheels are used for moving stairs;
the synchronous crawler wheels comprise a crawler belt, 5 synchronous wheels are arranged in the crawler belt on each side, a synchronous wheel connecting frame is arranged on the outer sides of the 5 synchronous wheels, the center of each synchronous wheel is fixed with the synchronous wheel connecting frame and the chassis through a shaft, a driving wheel is arranged at the head end and is aligned to a bearing seat, a transmission shaft in the driving wheel is connected with a shaft of a direct-current worm gear speed reduction motor through a coupler, and the position of the synchronous wheel arranged at the tail end is higher than that of the driving wheel by the diameter of one synchronous wheel;
the bottom of the chair is fixedly provided with an attitude sensor for sensing balance, a front hinge part and a rear hinge part, and the rear hinge part is hinged with the hinge part of the chair fixing block through a shaft; the front hinge part is hinged to one end of a second push rod, the second push rod is an electric push rod, the other end of the second push rod is fixed on an inclined plane of a fixing plate, and the fixing plate is obliquely fixed between two walls of the chassis; the back of the chair is provided with an armrest, the side edge of the chair is provided with a threaded hole, and the threaded hole is in threaded connection with the box bodies on the two sides through bolts;
the box body is in a ladder shape and comprises a left box body and a right box body, a manipulator is arranged in the left box body, two remote sensing modules are arranged on the front end surface of the left box body, a half-bracelet ring device is arranged at the top end of the right box body, a blood oxygen heart rate module is arranged in the half-bracelet ring device, a camera module is arranged on the first ladder surface of the right box body, the camera module is a wireless camera, and the wireless camera is connected with the router and used for observation of remote families; the second step surface is provided with an LCD screen, the back of the right box body is provided with a positioning groove, a GPS positioning module is arranged in the positioning groove, the side surface of the right box body corresponds to the first step medicine groove, and the external corner position of the medicine groove is hinged with a first cover body through a hinge piece and used for placing medicines; a battery jar is arranged corresponding to the second step, a second battery and a controller are arranged in the battery jar, the controller is an STM32 controller, the remote sensing module, the attitude sensor, the second battery, the blood oxygen heart rate module and the GPS positioning module are respectively and electrically connected with the input end of the controller, the first push rod, the second push rod, the LCD screen, the hub motor and the direct current worm gear speed reducing motor are respectively and electrically connected with the output end of the controller, and the external corner position of the battery jar is hinged with a second cover body through a hinge piece;
the manipulator comprises a first steering engine for enabling an X-axis of the manipulator to move, the first steering engine is fixed at the bottom of the left box body and connected to one end of a first arm rod, the other end of the first arm rod is connected with one end of a second steering engine and one end of a second arm rod, the other end of the second arm rod is connected with one end of a third steering engine and one end of a third arm rod, the other end of the third arm rod is connected with a fourth steering engine of the gripper, the second steering engine, the third steering engine and the fourth steering engine are used for enabling the Y-axis of the manipulator to move, a fifth steering engine for clamping and releasing is arranged in the gripper, the steering engines are connected with a steering engine control plate, and the steering engine control plate is;
the pedal comprises a connecting rod and a pedal, one end of the connecting rod is arranged in a groove at the front end of the chair and fixed through a fixing pin, the other end of the connecting rod is connected with a flange, and the flange is fixed on the pedal.
Furthermore, the universal wheel fixing frame and the hub motor fixing frame are in groove shapes, so that deformation of the fixing frame in the walking process is reduced.
Furthermore, the switching mechanism is a parallelogram mechanism, which is beneficial to keeping the stability of the movement of the wheelchair.
Furthermore, the first fixing shaft, the second fixing shaft and the switching shaft are respectively fixed with the universal wheel fixing frame and the hub motor fixing frame, and the tail ends of the first fixing shaft, the second fixing shaft and the switching shaft are provided with shaft end sleeves for fixing, so that the switching mechanism is prevented from shaking left and right in the movement process.
Furthermore, bearing seats are arranged in bearing seat holes at two sides of the chassis; and a transmission shaft of the driving wheel is arranged in the bearing seat.
Further, the front end of box is equipped with the light, still be equipped with illumination sensor, sound sensor in the constant head tank, illumination sensor, sound sensor are connected with the input electricity of controller respectively, and the light is connected with the output electricity of controller.
Further, the other voice broadcast ware that is equipped with in medicine groove, the output electricity of voice broadcast ware and controller is connected, provides the pronunciation warning of regularly taking medicine.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
1. the switching mechanism designed by the invention can realize the switching between flat ground movement and stair climbing under the action of the first push rod, the first guide groove, the second guide groove, the remote sensing module and the STM32 controller by using a horizontal ground movement structure combined by the universal wheel fixing frame and the hub motor fixing frame and a stair climbing structure of the synchronous crawler wheel; the posture sensor of design chair under articulated elements and second push rod and STM32 controller effect, realizes that the old person on the chair can keep steady state in the removal.
2. Through the design manipulator structure, under remote sensing module and STM32 controller effect, the control steering wheel realizes that X axle, the removal of Y axle of manipulator and the clamp of tongs get, and the old person on the chair of being convenient for can control the manipulator and snatch the article.
3. The light sensor, the sound sensor and the illuminating lamp are designed to provide illumination or be controlled by voice to turn on the illumination under the action of the STM32 controller in a dark environment.
Drawings
FIG. 1 is a perspective view of a smart wheelchair in an embodiment of the present invention;
FIG. 2 is a perspective view of a switching mechanism in an embodiment of the present invention;
FIG. 3 is a perspective view of a chassis in an embodiment of the present invention;
FIG. 4 is an internal structural view of a chassis in an embodiment of the present invention;
FIG. 5 is a block diagram of a robot in an embodiment of the present invention;
FIG. 6 is a perspective view of a chair according to an embodiment of the present invention;
wherein, 1-a switching mechanism; 2-a chassis; 3-a synchronous crawler wheel; 4-a chair; 5-a box body; 6-a manipulator; 7-a foot pedal;
101-universal wheel fixing frame; 102-hub motor fixing frame; 103-universal wheels; 104-a hub motor; 105-a push rod fixing block; 106-connecting rod; 107-first push rod; 108-a first stationary shaft; 109-a second fixed shaft; 110-switching shaft; 111-a first guide groove; 112-a second guide groove; 113-a sleeve; 114-shaft end sleeve;
201-chair fixing block; 202-a bearing seat; 203-bearing housing bore; 204-a direct current worm gear speed reducing motor; 205-a first battery;
301-crawler track; 302-a synchronizing wheel; 303-synchronizing wheel connecting frame; 304-a driving wheel; 305-a drive shaft; 306-a coupling;
401-front hinge; 402-a rear hinge; 403-a second push rod; 404-a fixed plate; 405-a handrail;
501-left box body; 502-right box; 503-remote sensing module; 504-half bracelet device; 505-a camera module; 506-an LCD screen; 507-positioning grooves; 508-GPS positioning module; 509-drug tank; 510-a first cover; 511-battery jar; 512-a second cover; 513-voice announcers; 514-lighting lamp;
601-a first steering engine; 602-a first arm; 603-a second steering engine; 604-a second arm; 605-a third steering engine; 606-a third arm; 607-a gripper; 608-a fourth steering engine; 609-a fifth steering engine;
701-connecting rod; 702-a pedal; 703-grooves; 704-flange.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a preferred embodiment of the present invention provides an intelligent wheelchair for the old and convenient people, comprising: the device comprises a switching mechanism 1 for switching the movement of a track and a hub motor, a chassis 2 arranged in the switching mechanism 1, synchronous track wheels 3 arranged on two sides of the chassis 2, a chair 4 connected to the chassis 2, a box body 5 arranged on two sides of the chair 4, a manipulator 6 arranged in the box body 5 on one side, and a pedal 7 connected to the front end of the chair 4.
As shown in fig. 2, the switching mechanism 1 includes a universal wheel fixing frame 101 and a hub motor fixing frame 102, which are disposed on two sides, the bottom of the universal wheel fixing frame 101 is connected with a universal wheel 103, a hub at the bottom of the hub motor fixing frame 102 is provided with a hub motor 104, the universal wheel fixing frame 101 on each side is connected with the upper end and the lower end of the corresponding hub motor fixing frame 102 through a connecting rod 106, and the connecting position is provided with a bolt for fixing; a first fixed shaft 108 is arranged between the universal wheel fixing frames 101 at two sides, a second fixed shaft 109 and a switching shaft 110 are arranged between the two wheel hub motor fixing frames 102, the switching shaft 110 is arranged above the second fixed shaft 109, and a first guide groove 111 is arranged at the joint of the wheel hub motor fixing frames 102 at two sides and the switching shaft 110; the chassis 2 is sleeved on the first fixed shaft 108, the second fixed shaft 109 and the switching shaft 110, and a second guide groove 112 is arranged at the joint of the chassis 2 and the switching shaft 110; the middle part of the switching shaft 110 is connected with one end of a first push rod 107 through a sleeve 113, the first push rod 107 is an electric push rod, the other end of the first push rod 107 is fixed in a push rod fixing block 105, and two ends of the push rod fixing block 105 are fixed at the external corner in the chassis 2.
When the user needs to go upstairs, the old switches the wheelchair moving mode under the action of the controller by controlling the remote sensing module 503, the switching mechanism 1 enables the switching shaft 110 to move back and forth under the coordination of the first push rod 107, the first guide groove 111 and the second guide groove 112, the switching shaft 110 enables the crossed hub motor fixing frame 102 to move upwards, the universal wheel fixing frame 101 is simultaneously pulled upwards under the traction of the connecting rod 106, the synchronous crawler wheel 3 slowly contacts the ground by taking the fixed shaft as a rotation center to rotate, and the switching of the moving mode is realized.
Referring to fig. 3 and 4, the chassis 2 is T-shaped, a chair fixing block 201 is fixed in the middle of the top end of the chassis 2, a hinge member is fixed on the top of the chair fixing block 201, and bearing seat holes 203 are horizontally formed in the lower portions of the front ends of the two sides of the chassis 2; two direct current worm and gear speed reducing motors 204 and a first battery 205 are arranged inside the chassis 2, the shafts of the direct current worm and gear speed reducing motors 204 are aligned with the bearing seat holes 203, the direct current worm and gear speed reducing motors 204 can provide enough torsion, the direct current worm and gear speed reducing motors 204 are electrically connected with the first battery 205, the direct current worm and gear speed reducing motors 204 are connected with the synchronous crawler wheels 3 on two sides, and the synchronous crawler wheels 3 are used for moving the wheelchair upstairs.
The synchronous crawler wheels 3 comprise crawler belts, 5 synchronous wheels 302 are arranged in the crawler belt on each side, a synchronous wheel connecting frame 303 is arranged on the outer side of each synchronous wheel 302, the center of each synchronous wheel 302 is fixed with the synchronous wheel connecting frame 303 and the chassis 2 through a shaft, a driving wheel 304 is arranged at the head end and is aligned with the bearing seat 202, a transmission shaft 305 in the driving wheel 304 is connected with the shaft of the direct current worm and gear speed reducing motor 204 through a coupling 306, and the synchronous wheel 302 arranged at the tail end is higher than the driving wheel 304 by the diameter of one synchronous wheel 302 so as to be matched with a stair step.
Referring to fig. 6, an attitude sensor for sensing balance, a front hinge 401 and a rear hinge 402 are fixed at the bottom of the chair 4, and the rear hinge is hinged to the hinge of the chair fixing block 201 through a shaft; the front hinge part is hinged at one end of a second push rod 403, the second push rod 403 is an electric push rod, the other end of the second push rod 403 is fixed on the inclined plane of a fixed plate 404, and the fixed plate 404 is obliquely fixed between two walls of the chassis 2; the back of the chair 4 is provided with an armrest 405 for pushing the wheelchair under the action of others, and the side of the chair 4 is provided with a threaded hole which is in threaded connection with the box bodies 5 at two sides through bolts.
The surface of the second step is provided with an LCD screen 506, the back of the right box body 502 is provided with a positioning groove 507, a GPS positioning module 508 and a controller for positioning are arranged in the positioning groove 507, the controller is an STM32 controller, the side surface of the right box body 502 is provided with a medicine groove 509 corresponding to the first step, and the external corner position of the medicine groove 509 is hinged with a first cover body 510 through a hinge; a battery slot 511 is arranged corresponding to the second step, a second battery is arranged in the battery slot 511, the remote sensing module 503, the attitude sensor, the second battery, the blood oxygen heart rate module and the GPS positioning module 508 are respectively and electrically connected with the input end of the controller, the first push rod 107, the second push rod 403, the LCD screen 506, the in-wheel motor 104 and the direct current worm gear speed reducing motor 204 are respectively and electrically connected with the output end of the controller, and the external corner position of the battery slot 511 is hinged with a second cover 512 through a hinge. The old person puts the hand on half bracelet device 504, and blood oxygen heart rate module detects the old person's data and under the effect of controller, shows for the old person on LCD screen 506.
As shown in fig. 5, the manipulator 6 includes a first steering engine 601 for moving the X axis of the manipulator 6, the first steering engine 601 is fixed at the bottom of the left box 501, the first steering engine 601 is connected to one end of a first arm 602, the other end of the first arm 602 is connected to one end of a second steering engine 603 and one end of a second arm 604, the other end of the second arm 604 is connected to one end of a third steering engine 605 and one end of a third arm 606, the other end of the third arm 606 is connected to a fourth steering engine 608 of the gripper 607, the second, third and fourth steering engines are used for moving the Y axis of the manipulator 6, a fifth steering engine 609 for clamping and releasing is arranged in the gripper 607, the steering engines are connected to a steering engine control board, and the steering engine control board is in communication connection with a controller; under remote sensing module 503 and STM32 controller effect, the control steering wheel realizes that X axle, the Y axle of manipulator 6 remove and the clamp of tongs 607 gets, has guaranteed that some can not normally walk and the old person who nobody looked after in the short time conveniently takes the object, can contract when manipulator 6 does not use and get up and leave in box 5 the inside, does not hinder old person's activity.
The pedal 7 comprises a connecting rod 701 and a pedal 702, one end of the connecting rod 701 is arranged in a groove 703 at the front end of the chair 4 and fixed through a fixing pin, the other end of the connecting rod 701 is connected with a flange 704, and the flange 704 is fixed on the pedal 702 and used for placing feet of the old.
Preferably, the universal wheel fixing frame 101 and the hub motor fixing frame 102 are groove-shaped, so that deformation of the fixing frames in the walking process is reduced.
Preferably, the switching mechanism 1 is a parallelogram mechanism, which is beneficial to maintaining the stability of the movement of the wheelchair.
Preferably, the first fixed shaft 108, the second fixed shaft 109, and the switching shaft 110 are respectively fixed to the universal wheel fixing frame 101 and the hub motor fixing frame 102, and the ends of the first fixed shaft, the second fixed shaft, and the switching shaft are respectively fixed to the shaft end sleeve 114, so as to prevent the switching mechanism 1 from shaking left and right during movement.
Preferably, bearing seats 202 are arranged in bearing seat holes 203 on two sides of the chassis 2; the transmission shaft 305 of the driving wheel 304 is arranged in the bearing seat 202, and the transmission shaft 305 is prevented from being deformed by overlarge torque in the walking process and damaging the service life of the transmission shaft through the support of the bearing seat 202.
Preferably, the front end of box 5 is equipped with light 514, still be equipped with light sensor, sound sensor in the constant head tank 507, light sensor, sound sensor are connected with the input electricity of controller respectively, and light 514 is connected with the output electricity of controller, and when light sensor under the dim light condition, light 514 lights under the controller effect, if the old man need not light and says out the preset word of turning off the lamp, sound sensor received signal light 514 is closed under the controller effect.
Preferably, a voice broadcast device 513 is arranged beside the medicine groove 509, the voice broadcast device 513 is electrically connected with the output end of the controller, and under the action of a real-time clock arranged in the controller, the old people are reminded of taking medicines at regular time. Provides a voice prompt for taking medicine regularly.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (7)
1. An old-fashioned intelligent wheelchair is characterized by comprising: the automatic walking device comprises a switching mechanism, a chassis arranged in the switching mechanism, synchronous crawler wheels arranged on two sides of the chassis, a chair connected to the chassis, box bodies arranged on two sides of the chair, a manipulator arranged in the box body on one side, and a pedal connected to the front end of the chair;
the switching mechanism comprises universal wheel fixing frames and hub motor fixing frames which are arranged on two sides, universal wheels are connected to the bottoms of the universal wheel fixing frames, hub motors are arranged on hubs at the bottoms of the hub motor fixing frames, the universal wheel fixing frames on each side are connected with the upper ends and the lower ends of the corresponding hub motor fixing frames through connecting rod tongue-and-groove joints respectively, and bolts are arranged at the joints for fixing; a first fixed shaft is arranged between the universal wheel fixing frames on the two sides, a second fixed shaft and a switching shaft are arranged between the two wheel hub motor fixing frames, the switching shaft is arranged above the second fixed shaft, and first guide grooves are formed in the joints of the wheel hub motor fixing frames on the two sides and the switching shaft; the chassis is sleeved on the first fixed shaft, the second fixed shaft and the switching shaft, and a second guide groove is formed at the joint of the chassis and the switching shaft; the middle part of the switching shaft is connected with one end of a first push rod through a sleeve, the other end of the first push rod is fixed in a push rod fixing block, and two ends of the push rod fixing block are fixed at the external corner in the chassis;
the base plate is T-shaped, a chair fixing block is fixed in the middle of the top end of the base plate, an articulated piece is fixed at the top of the chair fixing block, and bearing seat holes are horizontally formed in the lower parts of the front ends of the two sides of the base plate; a direct-current worm gear reduction motor and a first battery are arranged inside the chassis, a crankshaft of the direct-current worm gear reduction motor is aligned to a bearing seat hole, the direct-current worm gear reduction motor is electrically connected with the first battery, and the direct-current worm gear reduction motor is connected with synchronous crawler wheels on two sides;
the synchronous crawler wheels comprise crawler belts, 5 synchronous wheels are arranged in the crawler belt on each side, a synchronous wheel connecting frame is arranged on the outer sides of the 5 synchronous wheels, the center of each synchronous wheel is fixed with the synchronous wheel connecting frame and the chassis through a shaft, a driving wheel is arranged at the head end of each synchronous wheel, the position of each driving wheel is aligned with a bearing seat hole, and a transmission shaft in each driving wheel is connected with a direct-current worm and gear speed reduction motor through a coupling;
the bottom of the chair is fixedly provided with an attitude sensor, a front articulated piece and a rear articulated piece, and the rear articulated piece is articulated with the articulated piece of the chair fixed block through a shaft; the front hinge part is hinged to one end of the second push rod, the other end of the second push rod is fixed on the inclined surface of the fixed plate, and the fixed plate is obliquely fixed between the two walls of the chassis; the back of the chair is provided with an armrest, the side edge of the chair is provided with a threaded hole, and the threaded hole is in threaded connection with the box bodies on the two sides through bolts;
the box body is in a ladder shape and comprises a left box body and a right box body, a mechanical arm is arranged in the left box body, a remote sensing module is arranged on the front end surface of the left box body, a half-bracelet ring device is arranged at the top end of the right box body, a blood oxygen heart rate module is arranged in the half-bracelet ring device, a camera module is arranged on the surface of a first step of the right box body, an LCD screen is arranged on the surface of a second step, a positioning groove is arranged behind the right box body, a GPS positioning module is arranged in the positioning groove, a medicine groove is arranged on the side surface of the right box body corresponding to; a battery jar is arranged corresponding to the second step, a second battery and a controller are arranged in the battery jar, the remote sensing module, the attitude sensor, the second battery, the blood oxygen heart rate module and the GPS positioning module are respectively and electrically connected with the input end of the controller, the first push rod, the second push rod, the LCD screen, the hub motor and the direct current worm gear speed reduction motor are respectively and electrically connected with the output end of the controller, and the external corner position of the battery jar is hinged with a second cover body through a hinge piece;
the manipulator comprises a first steering engine, the first steering engine is fixed at the bottom of the left box body, the first steering engine is connected to one end of a first arm rod, the other end of the first arm rod is connected with one end of a second steering engine and one end of a second arm rod, the other end of the second arm rod is connected with one end of a third steering engine and one end of a third arm rod, the other end of the third arm rod is connected with a fourth steering engine of the gripper, a fifth steering engine is arranged in the gripper, the steering engines are connected with a steering engine control panel, and the steering engine control panel is in communication connection with the controller;
the pedal comprises a connecting rod and a pedal, one end of the connecting rod is arranged in a groove at the front end of the chair and fixed through a fixing pin, the other end of the connecting rod is connected with a flange, and the flange is fixed on the pedal.
2. The intelligent wheelchair as claimed in claim 1, wherein the universal wheel holder and the hub motor holder are shaped as grooves.
3. The intelligent wheelchair of claim 2 wherein said switching mechanism is a parallelogram mechanism.
4. The intelligent wheelchair as claimed in claim 3, wherein the first fixed shaft, the second fixed shaft and the switching shaft are fixed to the universal wheel holder and the hub motor holder respectively, and the ends of the first fixed shaft, the second fixed shaft and the switching shaft are provided with shaft end sleeves for fixing.
5. The intelligent wheelchair as claimed in claim 4, wherein bearing seats are provided in the bearing seat holes at both sides of the chassis; and a transmission shaft of the driving wheel is arranged in the bearing seat.
6. The intelligent wheelchair as claimed in claim 5, wherein a lighting lamp is disposed at the front end of the box, a light sensor and a sound sensor are disposed in the positioning groove, the light sensor and the sound sensor are respectively electrically connected to the input end of the controller, and the lighting lamp is electrically connected to the output end of the controller.
7. The intelligent wheelchair as claimed in claim 6, wherein a voice announcer is provided beside the medicine tank, and the voice announcer is electrically connected with an output end of the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911268197.6A CN110974562B (en) | 2019-12-11 | 2019-12-11 | Intelligent wheelchair convenient to use and old |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911268197.6A CN110974562B (en) | 2019-12-11 | 2019-12-11 | Intelligent wheelchair convenient to use and old |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110974562A true CN110974562A (en) | 2020-04-10 |
| CN110974562B CN110974562B (en) | 2024-06-21 |
Family
ID=70092458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911268197.6A Active CN110974562B (en) | 2019-12-11 | 2019-12-11 | Intelligent wheelchair convenient to use and old |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110974562B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113768711A (en) * | 2021-09-14 | 2021-12-10 | 山东理工大学 | Liftable novel multi-position physiotherapy wheelchair bed |
| CN114767404A (en) * | 2022-04-18 | 2022-07-22 | 中国人民解放军联勤保障部队第九八九医院 | Medical vehicle for nuclear magnetic room |
| TWI801076B (en) * | 2021-04-08 | 2023-05-01 | 翁永聯 | Chassis structure having a seat back synchronous coupling device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020067456A (en) * | 2002-07-13 | 2002-08-22 | 임락복 | Manual and electric power shiftable wheelchair with forced driven front caterpillar wheels |
| CN104382705A (en) * | 2014-11-21 | 2015-03-04 | 王正东 | Off-road stair-climbing wheelchair capable of realizing wheel and track switching |
| CN104622650A (en) * | 2015-02-12 | 2015-05-20 | 南京理工大学 | Wheel-track combined electric wheelchair |
| ES2580979A2 (en) * | 2015-02-27 | 2016-08-30 | Robert Andrey VALLEJO PINEDA | Electric wheelchair (Machine-translation by Google Translate, not legally binding) |
| CN109481168A (en) * | 2018-11-20 | 2019-03-19 | 合肥工业大学 | A kind of multifunction caterpillar electric stairs-climbing wheelchair |
| CN208892970U (en) * | 2017-09-15 | 2019-05-24 | 西安理工大学 | A kind of stair-climbing wheel chair |
| CN209751430U (en) * | 2019-01-18 | 2019-12-10 | 河北工业大学 | wheel-track combined stair climbing wheelchair |
| CN211485300U (en) * | 2019-12-11 | 2020-09-15 | 广东海洋大学 | Convenient and old intelligent wheelchair |
-
2019
- 2019-12-11 CN CN201911268197.6A patent/CN110974562B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020067456A (en) * | 2002-07-13 | 2002-08-22 | 임락복 | Manual and electric power shiftable wheelchair with forced driven front caterpillar wheels |
| CN104382705A (en) * | 2014-11-21 | 2015-03-04 | 王正东 | Off-road stair-climbing wheelchair capable of realizing wheel and track switching |
| CN104622650A (en) * | 2015-02-12 | 2015-05-20 | 南京理工大学 | Wheel-track combined electric wheelchair |
| ES2580979A2 (en) * | 2015-02-27 | 2016-08-30 | Robert Andrey VALLEJO PINEDA | Electric wheelchair (Machine-translation by Google Translate, not legally binding) |
| CN208892970U (en) * | 2017-09-15 | 2019-05-24 | 西安理工大学 | A kind of stair-climbing wheel chair |
| CN109481168A (en) * | 2018-11-20 | 2019-03-19 | 合肥工业大学 | A kind of multifunction caterpillar electric stairs-climbing wheelchair |
| CN209751430U (en) * | 2019-01-18 | 2019-12-10 | 河北工业大学 | wheel-track combined stair climbing wheelchair |
| CN211485300U (en) * | 2019-12-11 | 2020-09-15 | 广东海洋大学 | Convenient and old intelligent wheelchair |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI801076B (en) * | 2021-04-08 | 2023-05-01 | 翁永聯 | Chassis structure having a seat back synchronous coupling device |
| CN113768711A (en) * | 2021-09-14 | 2021-12-10 | 山东理工大学 | Liftable novel multi-position physiotherapy wheelchair bed |
| CN114767404A (en) * | 2022-04-18 | 2022-07-22 | 中国人民解放军联勤保障部队第九八九医院 | Medical vehicle for nuclear magnetic room |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110974562B (en) | 2024-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110974562A (en) | Convenient and old intelligent wheelchair | |
| US9854203B2 (en) | Convertible telepresence robot | |
| US8622160B2 (en) | Moveable steering and universal charger | |
| CN110434866B (en) | Intelligent nursing device and control method thereof | |
| CN109157381B (en) | Handrail type intelligent tumble protection walking aid rehabilitation robot | |
| WO2005108185A2 (en) | Wheel chair drive apparatus and method | |
| CN211485300U (en) | Convenient and old intelligent wheelchair | |
| CN209172850U (en) | A kind of old age walk-aid equipment | |
| WO2023273603A1 (en) | Multifunctional auxiliary nursing robot | |
| CN111515963A (en) | Multifunctional double-mechanical-arm shifting robot | |
| JPS61252084A (en) | Master/slave type robot | |
| WO2004110816A2 (en) | Lift and transfer chair | |
| CN210476957U (en) | Multifunctional double-mechanical-arm shifting robot | |
| JP2000152961A (en) | Wheelchair with self-running function | |
| JP2003093451A (en) | Walking assist cart | |
| CN115068232A (en) | Gynaecology and obstetrics possesses seat device of supplementary function of standing | |
| CN210205297U (en) | Multifunctional intelligent walking aid frame | |
| CN213822135U (en) | Intelligent adjustment's electronic wheelchair foot layer board | |
| JPS63279844A (en) | Method for moving lower limb-disabled person on road and connector utilized therein | |
| CN2562756Y (en) | Foot control turning device for wheel chair vehicle | |
| Hashim et al. | Development of Motorized Board of Wheelchair Using Arduino Controller | |
| CN113876501A (en) | Wheelchair type mobile double-arm cooperative robot | |
| CN218355976U (en) | Toilet seat | |
| CN220370165U (en) | Auxiliary walking device | |
| CN114521891B (en) | Medical electric bed with warning effect |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |