TWI658824B - Electric wheelchair - Google Patents

Abstract

An electric wheelchair is provided for a user to ride, and includes a mobile wheel body, a base body, a sensing unit, and a control unit. The mobile wheel body can be controlled to move in any direction, the seat body bears the user, and can be It is controlled to rotate and is mounted on the moving wheel body. The sensing unit is arranged on the base body to sense a direction of the base body and generate a direction signal. The direction is the user's direction. The control unit is electrically connected. The sensing unit and the moving wheel body receive a direction signal and control the moving wheel body to move toward the direction according to the direction signal. The electric wheelchair turns the direction by the seat, the sensing unit senses the direction, and the control unit controls the moving wheel body. Moving directly to the direction, the electric wheelchair can turn without turning radius when turning.

Description

electric wheelchair

The invention relates to an electric wheelchair, in particular to an electric wheelchair which can be controlled by a passenger to rotate a body to be positioned to facilitate steering movement.

Generally, people with reduced mobility need a wheelchair as a means of travel. There are mainly two types of manual wheelchairs and electric wheelchairs. Among them, electric wheelchairs do not require the occupants and caregivers to push them. It is very labor-saving and convenient to rely on electricity to move the wheelchair Mobility tools.

However, the general electric wheelchair has a problem. It requires a large turning radius when turning, so it requires a large turning space. If turning in a narrow space, it is easy to collide and hinder, which is not convenient to use.

Therefore, in order to solve the problem that a large turning space is required when the electric wheelchair turns, it proposes an electric wheelchair that can be steered at a fixed point.

Therefore, the electric wheelchair of the present invention is provided for a user to ride, and includes a mobile wheel body, a base body, a connection unit, a sensing unit, a control unit, and a telescopic device.

Further, the moving wheel body can be controlled to move in any direction. The moving wheel body includes a support base and a plurality of roller devices. The roller devices are arranged on the support base to drive the support base to move. Each roller device includes a A universal wheel and a driving module. The universal wheel is driven to roll, and can move in a direction parallel to the plane on a plane. The driving mold is assembled on the universal wheel.

The base body carries the user, can be controlled to rotate, and is mounted on the moving wheel body.

The connection unit is disposed between the moving wheel body and the base body, and the base body rotates in a direction parallel to the plane with respect to the support base by the connection unit.

The sensing unit is disposed on the base to sense a direction of the base and generate a direction signal, wherein the direction is a direction of the user.

The control unit is electrically connected to the sensing unit and the moving wheel body, receives the direction signal, and controls the moving wheel body to move in the direction direction according to the direction signal, wherein the control unit is electrically connected to the moving wheel body. A driving module. The control unit generates a control movement signal according to the direction signal. The driving module receives the control movement signal and drives the universal wheel to move in the direction according to the control movement signal.

The telescopic device includes a connecting end and a telescopic end provided on the mobile wheel body, and the telescopic device can be controlled to be stretched or contracted. When extending, the telescopic end extends in a direction away from the mobile wheel body, that is, the telescopic The device is extended to be supported between the support base and the ground, and when retracted, the telescopic end is contracted in a direction toward the moving wheel body, that is, the telescopic device is retracted from the ground without touching the ground.

Further, the connection unit includes a pivot and a pivot motor.

The pivot is connected to the moving wheel body and the base body.

The pivot motor is disposed on the pivot and is electrically connected to the control unit, receives a steering signal from the control unit, and drives the pivot to rotate according to the steering signal to rotate the base.

Further, the sensing unit is a gyroscope.

Further, the electric wheelchair further includes a user interface, which is electrically connected to the control unit and is used by a user to input a steering instruction. The control unit receives the steering instruction and generates the steering signal according to the steering instruction.

Further, the telescopic device is electrically connected to the control unit to receive a telescopic signal, and expands or contracts according to the telescopic signal.

Further, the electric wheelchair further includes a user interface, which is electrically connected to the control unit and is used by a user to input a telescopic instruction. The control unit receives the telescopic instruction and generates the telescopic signal according to the telescopic instruction.

According to the above technical features, the following effects can be achieved:

1. By rotating the seat to the direction, the sensing unit senses the direction of the seat, so that the control unit controls the moving wheel body to move directly to the direction, so the electric wheelchair does not need to turn The radius can turn directly at a fixed point, which is quite space-saving, and it is not easy to collide and obstruct when turning.

2. The user communicates the steering instruction and the telescopic instruction through the user interface to the control unit to control the seat to turn to the direction the user wants to travel and use the telescopic device to facilitate the operation of the electric motor. The wheelchair performs its function.

3. The telescopic device is supported between the mobile wheel body and the ground when it is extended, so that the user can safely and securely get on and off the electric wheelchair.

(1) ‧‧‧mobile wheel

(11) ‧‧‧Support

(12) ‧‧‧Roller device

(121) ‧‧‧Universal Roller

(122) ‧‧‧Drive Module

(123) ‧‧‧Main round

(124) ‧‧‧Roller

(2) ‧‧‧Body

(3) ‧‧‧Connecting unit

(31) ‧‧‧Pivot

(32) ‧‧‧Pivot Motor

(4) ‧‧‧Sensing unit

(5) ‧‧‧Telescopic device

(51) ‧‧‧Connector

(52) ‧‧‧Telescopic end

(6) ‧‧‧User Interface

(7) ‧‧‧Control unit

[First image] is a schematic perspective view of an electric wheelchair according to an embodiment of the present invention.

[Second view] A partial side view of the embodiment.

[Third figure] is a block diagram of signal transmission in this embodiment.

[Fourth Figure] A schematic perspective view of the embodiment before a turn during driving.

[Fifth Figure] is a perspective view of the embodiment after a turn during driving.

Based on the above technical features, the main effects of the electric wheelchair of the present invention will be clearly shown in the following embodiments.

Please refer to the first to third figures. An embodiment of an electric wheelchair according to the present invention is provided for a user to ride. The electric wheelchair includes a mobile wheel body 1, a base body 2, a connection unit 3, a sensing unit 4, A telescopic device 5, a user interface 6, and a control unit 7.

The moving wheel body 1 includes a support base 11 and a plurality of roller devices 12. In this embodiment, four roller devices 12 are used, and the roller devices 12 are disposed on the support base 11 and can be controlled to drive the support base 11 to move to any direction.

Each roller device 12 includes a universal roller 121 and a driving module 122.

The universal wheel 121 is a Mecanum wheel. The universal wheel 121 has a main wheel 123 and a plurality of rollers 124 rotatably fixed to the main wheel 123. The rotation axis directions of the rollers 124 and the main wheel are respectively. The central axis direction of 123 is at an angle of 45 degrees. Therefore, by rolling the main wheel 123 and rotating the rollers 124, the universal wheel 121 can be moved on a plane in a direction parallel to the plane, such as front, back, left and right. Pan, oblique diagonal, circle, etc.

The driving module 122 is a motor installed on a central axis of the main wheel 123 and receives a control movement signal, and drives the main wheel 123 to roll according to the control of the control movement signal. Each universal wheel 121 is driven by its corresponding driving module 122, so it can drive the support base 11 in addition to moving forward and backward, can rotate at a fixed point, and can even translate left and right. This is the application of these Mecanum wheels The principle is not repeated here.

The base 2 carries the user, can be controlled to rotate, and is mounted on the support base 11.

The connecting unit 3 includes a pivot shaft 31 and a pivot motor 32. The pivot shaft 31 is used to connect the support base 11 and the base body 2 and drive the base body 2 so that the base body 2 is opposite to the support base 11 Rotation, wherein the length of the pivot 31 is related to the height of the base 2 relative to the support base 11, and the cross-sectional area of the pivot 31 is also related to the stability when the base 2 rotates, the pivot motor 32 It is arranged on the pivot 31 and receives a turning signal, and drives the pivot 31 to rotate according to the turning signal, so that the base 2 passes through the pivot 3 Rotate relative to the support base 11 to the direction the user wants to face, that is, the base body 2 is rotated relative to the support base 11 in a direction parallel to the plane. In this example, the pivot motor 32 is mounted on the It should be noted that between the pivot 31 and the support base 11, the pivot motor 32 can also be installed between the pivot 31 and the base 2, and is not limited thereto.

It should be added that the base body 2 is rotated relative to the moving wheel body 1 by the connecting unit 3, and the connecting unit 3 is not limited to the state of the pivot 31 and the pivot motor 32. The pivot motor 32 is disposed between the base body 2 and the support base 11, and drives the base body 2 to rotate.

The sensing unit 4 is disposed on the base body 2. In this example, the sensing unit 4 is a gyroscope, and the gyroscope senses an angular velocity corresponding to three axes of the base body 2 in space, and is based on The angular velocity obtains a direction of the base body 2 and generates a direction signal, wherein the direction is a direction of the user.

The telescopic device 5 includes a connecting end 51 disposed on the support base 11 and a telescopic end 52 opposite to the connecting end 51. The telescopic device 5 receives a telescopic signal, and the telescopic signal controls the expansion or contraction. The telescopic device 5 receives the telescopic signal indicating extension. The telescopic end 52 extends away from the support base 11, that is, extends to the support. Between the support base 11 and the ground, the telescopic device 5 receives the telescopic signal indicating the contraction, and the telescopic end 52 contracts in the direction toward the support base 11, that is, it retracts from the ground without touching the ground. For example, when the user wants to leave the base body 2 or sit on the base body 2, by using the telescopic device 5 to support the ground body, the mobile wheel body 1 can be more firmly parked on the ground when there is no movement. When the moving wheel body 1 is ready to move, the telescopic device 5 can be stowed, which does not hinder the movement of the moving wheel body 1, which is quite convenient.

The user interface 6 is provided for the user to operate, for the user to input a turning instruction and a telescopic instruction. The user interface 6 may be a joystick control interface, a panel touch interface, or a button interface, and is not limited.

The control unit 7 is electrically connected to the driving modules 122, the pivot motor 32, the sensing unit 4, the telescopic device 5, and the user interface 6.

Please refer to the third to fifth figures. When the user travels in the electric wheelchair and encounters a turn, the user inputs the steering instruction through the user interface 6, and the control unit 7 receives the steering instruction according to the steering. The command generates the turning signal to control the pivot motor 32 to drive the pivot 31 to drive the base body 2 to rotate relative to the support base 11 in a direction parallel to the plane and turn to the user's path after turning, At this time, the sensing unit 4 senses the orientation direction of the base body 2 after rotation and generates the direction signal, and the control unit 7 receives and generates a plurality of control movement signals according to the direction signals and transmits them to the driving modules respectively. Group 122, to control the driving modules 122 to drive the paired universal rollers 121 to move in the direction, so the electric wheelchair moves directly to the direction, and the turning action can be completed without the turning radius. .

When the user wants to leave the base body 2 or sit up on the base body 2 from the ground, the user can first input the telescopic instruction for stretching through the user interface 6, and the control unit 7 receives and according to the The telescopic instruction generates the telescopic signal, and the telescopic device 5 receives and extends to support between the support base 11 and the ground, so that the user can leave or ride the base body 2 more safely. Similarly, when the telescopic device 5 is not required to be supported, the user can input the telescopic instruction for contraction through the user interface 6, the control unit 7 receives and generates the telescopic signal according to the telescopic instruction, and the telescopic device 5 Receive and shrink off the ground.

It should be added that, in this example, the base 2 is designed for users with reduced mobility. Therefore, the user can control the connection unit 3 by transmitting the steering command to the control unit 7. The base body 2 is driven to rotate, but if the user can apply force to the base body 2 by himself, the base body 2 can also be rotated relative to the support base 11 by himself. Similarly, the telescopic device 5 can also be stretched or stored by the user.

Therefore, the electric wheelchair is controlled to turn to the direction by the base body 2, the sensing unit 4 senses the direction of the base body 2 to generate the direction signal, and cooperates with the special structure of the universal rollers 121 And are controlled by the independent driving modules 122 respectively, so that the control unit 7 can receive the direction signal and control the mobile wheel body 1 to move directly in the direction, and the electric wheelchair can turn without a turning radius Direct steering at a fixed point makes turning very convenient and saves space. The user is able to communicate the steering instruction and the telescopic instruction to the control unit 7 through the user interface 6 to control the seat 2 to turn to the user who wants to drive. The direction of advancement, and the use of the telescopic device 5 to facilitate the operation of the electric wheelchair to perform its functions, and the use of the telescopic device 5 is supported between the support base 11 and the ground, making the user safer and more secure Drop the seat body 2.

Based on the description of the above embodiments, the operation, use and effects of the present invention can be fully understood, but the above-mentioned embodiments are only preferred embodiments of the present invention, and the implementation of the present invention cannot be limited in this way. The scope, that is, the simple equivalent changes and modifications made according to the scope of the patent application and the description of the invention, are all within the scope of the present invention.

Claims (6)

An electric wheelchair for a user to ride, and includes: a moving wheel body that can be controlled to move in any direction. The moving wheel body includes a support base and a plurality of roller devices. The roller devices are arranged on the support base to To drive the support base to move, each roller device includes a universal roller and a driving module. The universal roller is driven to roll, and can be moved on a plane in a direction parallel to the plane. On the universal wheel; a base body, which bears the user, can be controlled to rotate and is mounted on the mobile wheel body; a connection unit is provided between the mobile wheel body and the base body, and the base body is provided by The connection unit rotates with respect to the support base in a direction parallel to the plane; a sensing unit is disposed on the base body to sense a facing direction of the base body and generate a direction signal, wherein the facing direction is the A user's facing direction; a control unit electrically connected to the sensing unit and the moving wheel body, receiving the direction signal, and controlling the moving wheel body to move in the direction direction according to the direction signal, wherein The control unit is electrically connected to the driving modules of the mobile wheel body, the control unit generates a control mobile signal according to the direction signal, the driving module receives the control mobile signal, and drives the universal wheel according to the control mobile signal Rolling to move in the direction; and a telescopic device, including a connection end and a telescopic end provided on the mobile wheel body, the telescopic device can be controlled to extend or contract, and the telescopic end is away from the movement during extension The direction of the wheel body is extended, that is, the telescopic device is extended to be supported between the support base and the ground. When retracted, the telescopic end is contracted toward the moving wheel body, that is, the telescopic device is retracted from the ground without touching ground. The electric wheelchair according to item 1 of the scope of patent application, wherein the connection unit includes a pivot shaft and a pivot motor, the pivot shaft connects the moving wheel body and the seat body, and the pivot motor is disposed on the pivot shaft And is electrically connected to the control unit, receives a steering signal from the control unit, and drives the pivot to rotate according to the steering signal to rotate the base. The electric wheelchair according to item 1 of the scope of patent application, wherein the sensing unit is a gyroscope. For example, the electric wheelchair described in item 2 of the scope of the patent application further includes a user interface, which is electrically connected to the control unit and allows the user to input a turning instruction, and the control unit receives the turning instruction and according to the The steering command generates the steering signal. The electric wheelchair according to item 1 of the scope of patent application, wherein the telescopic device is electrically connected to the control unit to receive a telescopic signal and expand or contract according to the telescopic signal. The electric wheelchair described in item 5 of the scope of patent application, further includes a user interface, which is electrically connected to the control unit and allows the user to input a telescopic instruction, and the control unit receives the telescopic instruction and according to the The telescopic instruction generates the telescopic signal.