CN102309381A - Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground - Google Patents
Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground Download PDFInfo
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- CN102309381A CN102309381A CN201110239969A CN201110239969A CN102309381A CN 102309381 A CN102309381 A CN 102309381A CN 201110239969 A CN201110239969 A CN 201110239969A CN 201110239969 A CN201110239969 A CN 201110239969A CN 102309381 A CN102309381 A CN 102309381A
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- 238000005516 engineering process Methods 0.000 description 2
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Abstract
The invention discloses a self-balancing electric wheelchair capable of going up and down the stairs and walking on the flat ground, comprising a seat (1), a wheelchair frame (2) and wheels (3), wherein the seat (1) is fixedly arranged on the wheelchair frame (2). The self-balancing electric wheelchair is characterized in that the number of the wheels (3) is two; the wheels (3) are distributed at the two sides of the seat (1) in a manner of bilateral symmetry; the wheelchair frame (2) is provided with two servo motors (4); each servo motor (4) is in transmission connection with one wheel (3); at least three hydraulic arms (5) are uniformly arranged on a wheel shaft along the circumferential direction of the wheel shaft at the outer side or the inner side of each wheel (3); each hydraulic arm (5) can extend out along the radial direction of the wheel shaft; a driving cylinder (6) is arranged on the hydraulic arms (5) and is connected with an oil pump by an oil pipe and a hydraulic electromagnetic valve; and the hydraulic electromagnetic valve and the oil pump are arranged on the wheelchair frame (2). The self-balancing electric wheelchair can walk on the flat ground and also can go up and down the stairs; and the structure is simpler and the cost is low.
Description
Technical field
The invention belongs to a kind of special vehicles, be the walking-replacing tool of a kind of dynamic driving of providing for the handicapped personage of lower limb, but be specially the self-balancing electric wheelchair that a kind of stair activity is walked pacifically.
Background technology
Wheelchair is the very important walking-replacing tool of individuals with disabilities, patient and old people of lower limb exercise inconvenience.Electric wheelchair of the prior art comprises seat, body framework and wheel, and wherein seat is fixed on the body framework, and wheel is two or four, is symmetrically arranged in the both sides of seat, and the power wheel on the body framework rotates, and makes wheel chair sport.When wheel was four, the occupant did not need the people and assists on the side promptly can keep the wheelchair balance; When wheel is two, need there be the people to assist the occupant on the side to keep the wheelchair balance.No matter wheel is two still wheelchairs of four, and stair activity is all very difficult.For making the wheelchair can stair activity, common wheel is become pocket-wheel or crawler wheels, but this kind wheelchair is not suitable for level walking, versatility is not strong; The complex structure of pocket-wheel or crawler wheels in addition, cost is very high.
Summary of the invention
But the present invention provides a kind of level walking self-balancing electric wheelchair of stair activity again that gets final product, and structure is comparatively simple, and cost is low.
For achieving the above object, the technical scheme that the present invention adopts is: but the self-balancing electric wheelchair that a kind of stair activity is walked pacifically, and said wheelchair comprises seat, body framework and wheel; Wherein seat is fixed on the body framework, and said wheel is two, and these two wheels are symmetrically arranged in the both sides of seat; Said body framework is provided with two servomotors; Each servomotor and a wheel are in transmission connection, and on the wheel shaft of each lateral wheel or inboard, along wheel shaft at least three hydraulic arms are set evenly circumferentially; Each hydraulic arm all extends radially out along wheel shaft; Hydraulic arm is provided with driving oil cylinder, and this driving oil cylinder is connected with oil pump with hydraulic buttery valve through oil pipe, and said hydraulic buttery valve and oil pump are installed on the body framework.
Related content in the technique scheme is explained as follows:
In the such scheme, the gauge tap of said oil pump and servomotor is located on the handrail of seat.
Operation principle of the present invention is: seat is provided with gravity sensor; On body framework, be provided with the detector that is used to survey wheelchair the place ahead and rear road conditions, be used to control electric-control system and the battery or the electromotor that is used to provide power supply of the oil pump of servomotor and hydraulic arm, servomotor, hydraulic arm, gravity sensor and detector are electrically connected with electric-control system.
When detector detects wheelchair the place ahead and is the level land; The electric control system controls hydraulic arm is retracted to its length less than radius of wheel, and the wheel rim of wheel lands, the rotation of electric control system controls driven by servomotor wheel; During turning; One of them power supply of two servomotors is cut off, and two wheels produce differential, realize the turning of wheelchair.During the straight line driving, two driven by servomotor two wheels rotate with speed.The occupant is sitting on the seat, and when rider's body was upright, gravity sensor detected the line center that the wheelchair center of gravity drops on left and right wheel and ground contact point, and wheelchair keeps balance motionless, and wheel is static, and this is the equipoise of wheelchair on the level land; When rider's body leans forward; Gravity sensor detects the reach of wheelchair center of gravity, and electric-control system is given servomotor according to the induced signal output control signal of gravity sensor, and the driven by servomotor wheel rotates forward; And the progressive strength size of size control wheel according to wheelchair angle of inclination and angular velocity; On the one hand balance people and the wheelchair moment of torsion of toppling over is forward kept the wheelchair balance, and generation lets the progressive acceleration of wheelchair on the one hand; When rider's body retreats; Gravity sensor moves after detecting the wheelchair center of gravity, and electric-control system is given servomotor according to the induced signal output control signal of gravity sensor, and the driven by servomotor wheel rotates backward; And the strength according to the size control wheel of wheelchair angle of inclination and angular velocity is retreated is big or small; The moment of torsion that one side balance people and wheelchair are toppled over is backward kept the wheelchair balance, produces the acceleration that lets wheelchair retreat, slow down or brake on the one hand; Be the occupant if the angle that changes own health forward or toward hypsokinesis, wheelchair will advance, retreat, slow down or brake according to the direction that tilts, and the wheelchair road speed is proportional with the degree of rider's body inclination, has realized that the man-machine interaction vicarious controls.
When detector detects wheelchair the place ahead and is stair; Information such as rank height, rank distance are passed to electric-control system, the electric control system controls oil pump drive hydraulic arm to wheel radially the outer direction extend out to hydraulic arm length greater than radius of wheel, and hydraulic arm length high and rank distance is in correct position with respect to the stair rank; The hydraulic arm outer end lands; The speed that the electric control system controls hydraulic arm alternately stretches out makes wheelchair climb to upper level or next stage step, realizes going upstairs or going downstairs.
For guaranteeing the comfortable of occupant, when going upstairs, people's face is back to direction of advance; When going downstairs, people's face can be kept upright occupant's the upper part of the body towards direction of advance always, is the equilibrium figure of wheelchair.Gravity sensor senses the speed of stretching out that control oil pump behind the whole position of centre of gravity of wheelchair and occupant drives hydraulic arm, makes wheelchair keep balance.
Because the technique scheme utilization, the present invention compared with prior art has advantage:
1, because the present invention's hydraulic arm when level walking shrinks, and felly lands, and hydraulic arm stretches out and lands when upper and lower stair, makes wheelchair promptly be suitable for level walking, again can stair activity, so highly versatile.
2, because left and right wheels of the present invention by different driven by servomotor, can reduce the radius of turn of wheelchair, make wheelchair can be in little spatial dimension flexible motion.
Description of drawings
Accompanying drawing 1 is the structural representation of the embodiment of the invention;
User mode figure when accompanying drawing 2 is accompanying drawing 1 level land balance;
The accompanying drawing 3 user mode figure when advancing on accompanying drawing 1 level land;
The accompanying drawing 4 user mode figure when retreating on accompanying drawing 1 level land;
Accompanying drawing 5 is the user mode figure of accompanying drawing 1 when going upstairs.
In the above accompanying drawing: 1, seat; 2, body framework; 3, wheel; 4, servomotor; 5, hydraulic arm; 6, driving oil cylinder; 7, handrail; 8, gauge tap; 9, gravity sensor.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
Embodiment: shown in accompanying drawing 1, but the self-balancing electric wheelchair that a kind of stair activity is walked pacifically, wheelchair comprises seat 1, body framework 2 and wheel 3; Wherein seat 1 is fixed on the body framework 2, and wheel 3 is two, and these two wheels 3 are symmetrically arranged in the both sides of seat 1; Body framework 2 is provided with two servomotors 4; Each servomotor 4 and a wheel 3 are in transmission connection, and on the wheel shaft in each wheel 3 outside, along wheel shaft three hydraulic arms 5 are set evenly circumferentially; Hydraulic arm 5 can be four, five or more a plurality of in other examples, and hydraulic arm 5 also can be arranged on the wheel shaft of wheel 3 inboards in addition.Each hydraulic arm 5 all extends radially out along wheel shaft, and hydraulic arm 5 is provided with driving oil cylinder 6, and this driving oil cylinder 6 is connected with oil pump with hydraulic buttery valve through oil pipe, and hydraulic buttery valve and oil pump are installed on the body framework 2.The gauge tap 8 of oil pump and servomotor 4 is located on the handrail 7 of seat 1.
When detector detected wheelchair the place ahead and is the level land, electric control system controls hydraulic arm 5 was retracted to its length less than radius of wheel 3, and the wheel rim of wheel 3 lands, 3 rotations of electric control system controls servomotor 4 drive wheels.In straight line when driving,, two servomotors 4 drive two wheels 3 and rotate with speed, and during turning, one of them power supply of two servomotors 4 is cut off, and two wheels 3 produce differentials, realize the turning of wheelchair.
Shown in accompanying drawing 2, the occupant is sitting on the seat 1, when rider's body is upright; The wheelchair center of gravity that detects gravity sensor 9 drops on the line center of left and right wheel 3 and ground contact point; Wheelchair keeps balance motionless, and wheel is static, and this is the equipoise of wheelchair on the level land.
Shown in accompanying drawing 3, when rider's body leaned forward, gravity sensor 9 detected the reach of wheelchair center of gravity; Electric-control system is given servomotor 4 according to the induced signal output control signal of gravity sensor 9; Servomotor 4 drive wheels 3 are rotated forward, and big or small according to the size control wheel 3 progressive strength of wheelchair angle of inclination and angular velocity, the moment of torsion that one side balance people and wheelchair are toppled over forward; Keep the wheelchair balance, produce on the one hand and let the progressive acceleration of wheelchair.
Said referring to accompanying drawing 4, when rider's body retreated, gravity sensor 9 moved after detecting the wheelchair center of gravity; Electric-control system is given servomotor 4 according to the induced signal output control signal of gravity sensor 9; Servomotor 4 drive wheels 3 rotate backward, and control the strength size that wheel 3 is retreated, the moment of torsion that one side balance people and wheelchair are toppled over backward according to the size of wheelchair angle of inclination and angular velocity; Keep the wheelchair balance, produce the acceleration that lets wheelchair retreat, slow down or brake on the one hand.
The occupant if the angle that changes own health forward or toward hypsokinesis, wheelchair will advance, retreat, slow down or brake according to the direction that tilts, and the wheelchair road speed is proportional with the degree of rider's body inclination, has realized that the man-machine interaction vicarious controls.
Shown in accompanying drawing 5, when detector detects wheelchair the place ahead and is stair, information such as rank height, rank distance are passed to electric-control system; The electric control system controls oil pump drive hydraulic arm 5 to wheel 3 radially the outer direction extend out to hydraulic arm 5 length greater than wheel 3 radiuses; And high and rank are apart from being in correct position with respect to the stair rank for hydraulic arm 5 length, and hydraulic arm 5 outer ends land, the speed that electric control system controls hydraulic arm 5 alternately stretches out; Make wheelchair climb to upper level or next stage step, realize going upstairs or going downstairs.
For guaranteeing the comfortable of occupant, when going upstairs, people's face is back to direction of advance; When going downstairs, people's face can be kept upright occupant's the upper part of the body towards direction of advance always, is the equilibrium figure of wheelchair.Gravity sensor 9 senses the speed of stretching out that control oil pump behind the whole position of centre of gravity of wheelchair and occupant drives hydraulic arm 5, makes wheelchair keep balance.
The foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to let the personage who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (2)
1. but self-balancing electric wheelchair that stair activity is walked pacifically; Said wheelchair comprises seat (1), body framework (2) and wheel (3); Wherein seat (1) is fixed on the body framework (2), it is characterized in that: said wheel (3) is two, and these two wheels (3) are symmetrically arranged in the both sides of seat (1); Said body framework (2) is provided with two servomotors (4); Each servomotor (4) is in transmission connection with a wheel (3), on the wheel shaft of each wheel (3) outside or inboard, along wheel shaft at least three hydraulic arms (5) is set evenly circumferentially; Each hydraulic arm (5) all extends radially out along wheel shaft; Hydraulic arm (5) is provided with driving oil cylinder (6), and this driving oil cylinder (6) is connected with oil pump with hydraulic buttery valve through oil pipe, and said hydraulic buttery valve and oil pump are installed on the body framework (2).
2. but the self-balancing electric wheelchair that stair activity according to claim 1 is walked pacifically is characterized in that: the gauge tap (8) of said oil pump and servomotor (4) is located on the handrail (7) of seat (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110239969 CN102309381B (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110239969 CN102309381B (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102309381A true CN102309381A (en) | 2012-01-11 |
| CN102309381B CN102309381B (en) | 2013-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110239969 Active CN102309381B (en) | 2011-08-19 | 2011-08-19 | Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground |
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| CN (1) | CN102309381B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072429A (en) * | 2013-01-24 | 2013-05-01 | 东华大学 | Wheel capable of climbing stairs and running on flat land |
| CN105109601A (en) * | 2015-08-17 | 2015-12-02 | 华钟祥 | Dual-drive balance wheelchair |
| CN106428398A (en) * | 2016-12-05 | 2017-02-22 | 何武 | Handlebar-free steering type electric vehicle |
| CN106420202A (en) * | 2016-11-03 | 2017-02-22 | 国家康复辅具研究中心 | Dynamic balance electric wheelchair |
| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| US10772774B2 (en) | 2016-08-10 | 2020-09-15 | Max Mobility, Llc | Self-balancing wheelchair |
| CN112168520A (en) * | 2020-11-03 | 2021-01-05 | 苏州知遇光电科技有限公司 | Wheel chair |
| CN112754791A (en) * | 2021-01-26 | 2021-05-07 | 张德强 | Wheel inclination adjustable patient rehabilitation wheelchair |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2555822Y (en) * | 2002-06-05 | 2003-06-18 | 薛致祥 | Stair-going up electric wheel-chair |
| WO2007107651A2 (en) * | 2006-03-20 | 2007-09-27 | Heron Technologies | Wheelchair adapted to staircases |
| CN200973788Y (en) * | 2006-12-01 | 2007-11-14 | 马捷 | Electric wheelchair capable of climbing stairs upward and downward and getting over small obstacles |
| CN101402382A (en) * | 2008-10-23 | 2009-04-08 | 王金星 | Vehicle for helping troops make up of the old and weak to go upstairs and downstairs |
| CN202198769U (en) * | 2011-08-19 | 2012-04-25 | 钟群明 | Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground |
-
2011
- 2011-08-19 CN CN 201110239969 patent/CN102309381B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2555822Y (en) * | 2002-06-05 | 2003-06-18 | 薛致祥 | Stair-going up electric wheel-chair |
| WO2007107651A2 (en) * | 2006-03-20 | 2007-09-27 | Heron Technologies | Wheelchair adapted to staircases |
| CN200973788Y (en) * | 2006-12-01 | 2007-11-14 | 马捷 | Electric wheelchair capable of climbing stairs upward and downward and getting over small obstacles |
| CN101402382A (en) * | 2008-10-23 | 2009-04-08 | 王金星 | Vehicle for helping troops make up of the old and weak to go upstairs and downstairs |
| CN202198769U (en) * | 2011-08-19 | 2012-04-25 | 钟群明 | Self-balancing electric wheel chair capable of walking up and down stairs and travelling on flat ground |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072429A (en) * | 2013-01-24 | 2013-05-01 | 东华大学 | Wheel capable of climbing stairs and running on flat land |
| CN103072429B (en) * | 2013-01-24 | 2015-10-28 | 东华大学 | A kind of wheel that may be used for climbing building and travel pacifically |
| CN105109601A (en) * | 2015-08-17 | 2015-12-02 | 华钟祥 | Dual-drive balance wheelchair |
| US10772774B2 (en) | 2016-08-10 | 2020-09-15 | Max Mobility, Llc | Self-balancing wheelchair |
| CN106420202A (en) * | 2016-11-03 | 2017-02-22 | 国家康复辅具研究中心 | Dynamic balance electric wheelchair |
| CN106420202B (en) * | 2016-11-03 | 2018-06-15 | 国家康复辅具研究中心 | Dynamic balancing electric wheelchair |
| CN106428398A (en) * | 2016-12-05 | 2017-02-22 | 何武 | Handlebar-free steering type electric vehicle |
| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| CN112168520A (en) * | 2020-11-03 | 2021-01-05 | 苏州知遇光电科技有限公司 | Wheel chair |
| CN112754791A (en) * | 2021-01-26 | 2021-05-07 | 张德强 | Wheel inclination adjustable patient rehabilitation wheelchair |
| CN112754791B (en) * | 2021-01-26 | 2023-11-24 | 美而特智能后勤服务有限公司 | Patient rehabilitation wheelchair with adjustable wheel inclination angle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102309381B (en) | 2013-10-16 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20120111 Assignee: Suzhou well Precision Machinery Engineering Co., Ltd. Assignor: Zhong Qunming Contract record no.: 2016320010001 Denomination of invention: Self-balancing electric wheelchair capable of going up and down stairs and walking on flat ground Granted publication date: 20131016 License type: Exclusive License Record date: 20160119 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170511 Address after: 215134 Fengyang village, Weitang Town, Suzhou, Jiangsu, Xiangcheng District Patentee after: Suzhou well Precision Machinery Engineering Co., Ltd. Address before: 215132, No. 2 Industrial Zone, Huang Zhen Town, Suzhou, Jiangsu, Xiangcheng District Patentee before: Zhong Qunming |
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| TR01 | Transfer of patent right |