CN105078672B - A self-balancing electric wheelchair - Google Patents

Abstract

The invention discloses a self-balancing electric wheelchair, which comprises a vehicle body, two rear wheels, two front wheels, a direction driving switch, a hub motor locking switch, two pedals, two hub motors, a left electric push rod, a right electric push rod, a front electric push rod, a rear electric push rod, a battery rack, a battery pack, a controller, a first gyroscope sensor, a second gyroscope sensor, a hook hinge and a balance seat, wherein the balance seat is ensured to be in a horizontal position at any time by arranging the left electric push rod, the right electric push rod, the front electric push rod and the rear electric push rod, and the stability is higher; the first gyroscope sensor and the second gyroscope sensor are arranged to respectively detect the levelness of the vehicle body and the levelness of the balance seat, so that the effect of the invention is doubly guaranteed; the invention has lower cost and is suitable for market popularization.

Description

A self-balancing electric wheelchair

technical field

The invention relates to a medical auxiliary device, in particular to a self-balancing electric wheelchair, which belongs to the technical field of life medical equipment.

Background technique

Wheelchairs are a common medical device for the disabled or sick and hospitalized patients. It plays an important role in assisting people's lives during illness. With the continuous development of modern technology, more and more new types of wheelchairs have appeared. From the original artificial drive to electric and so on. However, there is still a lot of room for development of wheelchairs in terms of self-service use by patients. For example, how to ensure that users are in a horizontal state when wheelchairs walk on sloped roads, which is especially important for people with disabilities. Some self-balancing devices have appeared, but the application effect of self-balancing on wheelchairs still has unstable use and high cost.

Contents of the invention

In view of the above problems, the present invention provides a self-balancing electric wheelchair, which adopts a simple electric push rod with a Hooke hinge and a gyro sensor to achieve stable use and low cost.

The technical solution adopted by the present invention is: a self-balancing electric wheelchair, including a car body, two rear wheels and two front wheels, a direction drive switch and a hub motor lock switch, two pedals, two hub motors, left and right Electric actuators and front and rear electric actuators, battery holder and battery pack, controller, first gyro sensor and second gyro sensor, Hooke hinge, balance seat, characterized in that it is based on a person sitting in a wheelchair , the upper part of the car body is provided with two handrails and two push handles, the lower part is provided with a square frame structure, the square frame structure is provided with a triangle mounting bracket, and the first gyro sensor is installed on the triangle The lower part of the mounting frame; the balance seat is hingedly mounted on the upper part of the triangular mounting frame through the Hooke hinge at the central position. The second gyro sensor is installed at the lower part of the right front of the chair; the left and right electric push rod mounting seats are arranged at the lower left side of the car body, the front and rear electric push rod mounting seats are arranged at the rear of the lower part of the car body, and the backrest is arranged under the push handle on the car body; The two rear wheels are installed at the lower position of the rear part of the car body, and the centers of the two rear wheels are respectively provided with a hub motor; the two front wheels are installed at the lower position of the front part of the car body; the two legs The pedals are respectively installed on both sides of the front of the car body; the battery rack is fixedly installed at the lower position of the center of the car body, the battery pack is fixedly installed in the battery rack, the controller is installed above the battery pack, and Connected with the battery pack; the lower ends of the left and right electric push rods are hingedly mounted on the left and right electric push rod mounting seats, and the piston rod ends of the left and right electric push rods are hingedly mounted on the center position of the left edge of the balance seat; The front and rear electric push rods are hingedly mounted on the front and rear electric push rod mounting seats, and the piston rod ends of the front and rear electric push rods are hingedly mounted on the center position of the rear edge of the balance seat; the direction drive switch is mounted on On the armrest on the right side of the car body, the hub motor locking switch is installed on the left armrest on the car body; the two hub motors, the left and right electric push rods, the front and rear electric push rods, the direction drive switch and the hub The motor locking switch is respectively connected with the battery pack and the controller through lines, the battery pack provides power, and the controller provides control signals.

Further, the controller is provided with two gears, which are A gear and B gear respectively. When it is in the A gear, when the direction drive switch is inactive, the hub motor lock switch is automatically turned on, and the two The first hub motor is powered off and self-locked to prevent the car from slipping on a slope; when in the B gear, when the direction drive switch does not move, the hub motor lock switch is automatically closed, and the hub motor is powered off but not self-locked.

Further, the direction drive switch includes four directions, respectively controlling the wheelchair to move forward, turn left, turn right, and move backward, and the lock switch of the in-wheel motor can be turned on and off manually.

Further, the first gyro sensor monitors the inclination angle and direction of the car body, and transmits the signal to the controller, and the controller transmits the signal to the left and right electric push rods and the front and rear electric push rods after processing, for different to adjust the balance seat to keep it level; the second gyro sensor monitors the tilt angle and direction of the balance seat to determine whether the balance seat is level, and sends the signal to the controller, and the controller sends the signal After processing, it is passed to the left and right electric push rods and the front and rear electric push rods for fine-tuning respectively to form a negative feedback closed-loop control system.

Further, the surfaces of the two pedals are provided with rubber anti-skid layers.

Because the present invention adopts the above-mentioned technical scheme, the present invention has the following advantages: (1) The present invention ensures that the balance seat is in a horizontal position at any time by providing left and right electric push rods and front and rear electric push rods, with high stability; (2) By setting the first gyro sensor and the second gyro sensor, the levelness of the car body and the balance seat are detected respectively, so that the effect of the present invention is double guaranteed; (3) The cost of the present invention is low and suitable for market promotion .

Description of drawings

Fig. 1 is a schematic diagram of the overall assembled three-dimensional structure of the present invention.

Fig. 2 is a schematic diagram of another perspective overall assembly stereoscopic structure of the present invention.

Fig. 3 is a schematic diagram of a three-dimensional structure of a car body in the present invention.

Fig. 4 is a schematic diagram of the state when the present invention is applied on a left-right inclined road surface.

Fig. 5 is a schematic diagram of the state when the present invention is applied on a forward and backward inclined road.

Reference numerals: 1-car body; 2-rear wheel; 3-direction drive switch; 4-hub motor lock switch; 5-front wheel; 6-pedal; 7-hub motor; 8-left and right electric push rod; 9-front and rear electric push rod; 10-battery pack; 11-battery rack; 12-controller; 13-first gyro sensor; 14-Hooke hinge; 15-second gyro sensor; 16-balance seat; 101-armrest; 102-backrest; 103-push handle; 104-left and right electric push rod mounts; 105-front and rear electric push rod mounts; 106-triangular mount.

detailed description

The present invention will be further described below in conjunction with specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not as a limitation to the present invention.

As shown in Figure 1, Figure 2, and Figure 3, a self-balancing electric wheelchair includes a car body 1, two rear wheels 2 and two front wheels 5, a direction drive switch 3, a hub motor lock switch 4, and two feet Pedal 6, two wheel hub motors 7, left and right electric push rods 8 and front and rear electric push rods 9, battery rack 11 and battery pack 10, controller 12, first gyro sensor 13 and second gyro sensor 15, Hooke Hinge 14, balance seat 16. Based on a person sitting in a wheelchair, the upper part of the vehicle body 1 is provided with two handrails 101 and two push handles 103, and the lower part is provided with a square frame structure, on which a triangular mounting bracket 106 is arranged, and the first gyro sensor 13 is installed in the bottom of the triangle mounting bracket 106. The balance seat 16 is hingedly mounted on the top of the triangular mounting frame 106 through the Hooke hinge 14 at the central position. The balance seat 16 has two degrees of freedom relative to the triangular mounting frame 106, namely, the front and rear direction rotation and the left and right direction rotation. The balance seat 16 The second gyroscope sensor 15 is installed at the lower part of the right front. The lower left side of the car body 1 is provided with a left and right electric push rod mount 104 , the rear of the bottom of the car body 1 is provided with a front and rear electric push rod mount 105 , and the push handle 103 below on the car body 1 is provided with a backrest 102 . The two rear wheels 2 are installed at the position below the rear part of the car body 1, and the centers of the two rear wheels 2 are respectively provided with a hub motor 7. Two front wheels 5 are installed in the position below the front part of the vehicle body 1 . Two pedals 6 are installed on both sides of the front of the vehicle body 1 respectively. The battery rack 11 is fixedly installed at the lower position of the center of the vehicle body 1 , the battery pack 10 is fixedly installed in the battery rack 11 , and the controller 12 is installed above the battery pack 10 and connected with the battery pack 10 . The left and right electric push rods 8 lower ends are hingedly mounted on the left and right electric push rod mounts 104, and the piston rod ends of the left and right electric push rods 8 are hingedly mounted on the center position of the left side edge of the balance seat 16. The front and rear electric push rods 9 are hingedly mounted on the front and rear electric push rod mounts 105, and the piston rod ends of the front and rear electric push rods 9 are hingedly mounted on the balance seat 16 rear edge center position. The direction drive switch 3 is installed on the armrest 101 on the right side of the vehicle body 1 , and the in-wheel motor lock switch 4 is installed on the armrest 101 on the left side of the vehicle body 1 . Two in-wheel motors 7, left and right electric push rods 8 and front and rear electric push rods 9, direction drive switch 3 and in-wheel motor lock switch 4 are respectively connected to the battery pack 10 and the controller 12 through lines, the battery pack 10 provides power, and the controller 12 provides control signals.

The controller 12 is provided with two gears, namely the A gear and the B gear. When in the A gear, when the direction drive switch 3 is inactive, the hub motor lock switch 4 is automatically opened, and the two hub motors 7. Power off and self-lock to prevent the car from slipping on the slope; when in the B gear, when the direction drive switch is inactive, the hub motor lock switch 4 is automatically closed, and the hub motor 7 is powered off but not self-locking. The direction drive switch 3 includes four directions, respectively controlling the wheelchair to move forward, turn left, turn right, and move backward. The in-wheel motor lock switch 4 can be turned on and off manually. The first gyroscope sensor 13 monitors the inclination angle and the inclination direction of the car body 1, and transmits the signal to the controller 12, and the controller 12 transmits the signal to the left and right electric push rods 8 and the front and rear electric push rods 9 after processing the signals, and performs different operations respectively. to adjust the balance seat 16 to maintain a level; the second gyro sensor 15 monitors the tilt angle and direction of the balance seat 16 to determine whether the balance seat 16 is level, and sends the signal to the controller 12 , the controller 12 transmits the signals to the left and right electric push rods 8 and the front and rear electric push rods 9 after processing the signals, and fine-tunes them respectively to form a negative feedback closed-loop control system. The surfaces of the two pedals 6 are provided with rubber anti-skid layers.

The working principle of the present invention is: when the present invention is in use, the user can set the gear position at the A gear position or the B gear position through the controller 12 . When the gear is in the A gear position, start the direction drive switch 3, which can realize the control of four directions, which are respectively forward, left, right, and backward; when the user stops using the direction drive switch 3, the hub motor lock switch 4 can Automatic start, now two wheel hub motors 7 are powered off and self-locked to prevent the car from slipping on the slope. When in the B gear, the in-wheel motor locking switch 4 can be automatically closed, and now the walking of the present invention can be realized by people through the two push handles 103 on the car body 1. No matter which gear is used, the present invention can ensure that the balance seat 16 is always in a horizontal position under the control of the first gyro sensor 13 and the second gyro sensor 15, the left and right electric push rods 8 and the front and rear electric push rods 9, as shown in the figure 3 and 4 are respectively a schematic view of the state when the present invention is applied on a left-right inclined road and a state schematic view when it is used on a front-rear inclined road. As can be seen from the figure, the balance seat 16 is always in a horizontal position.

Claims (4)

1. a kind of self-balancing electric wheel chair, including car body（1）, two trailing wheels（2）With two front-wheels（5）, direction driving switch（3） With wheel hub motor locking switch（4）, two pedals（6）, two wheel hub motors（7）, left and right electric pushrod（8）Electronic in front and back Push rod（9）, battery carrier（11）And set of cells（10）, controller（12）, the first gyro sensor（13）Pass with the second gyroscope Sensor（15）, Hooke's hinge（14）, balancing seat（16）It is characterised in that：On the basis of the people being sitting on wheelchair, described car body （1）Top is provided with two handrails（101）With two pushing hands（103）, bottom is set to square frame structure, described four directions Triangle installing rack is provided with shape frame structure（106）, described the first gyro sensor（13）It is arranged on triangle installing rack （106）Bottom；Described balancing seat（16）By the Hooke's hinge of center（14）It is hingedly mounted on triangle installing rack（106） Top, balancing seat（16）With respect to triangle installing rack（106）There are two degree of freedom, that is, fore-and-aft direction rotates and left and right directions turns Dynamic, balancing seat（16）Right front lower position is provided with the second gyro sensor（15）；Car body（1）Left lower is provided with Left and right electric pushrod mounting seat（104）, car body（1）Bottom rear is provided with before and after's electric pushrod mounting seat（105）, car body（1） On pushing hands（103）Lower section is provided with backrest（102）；Two described trailing wheels（2）It is arranged on car body（1）Lower rear position, Two trailing wheels（2）Center is respectively arranged with a wheel hub motor（7）；Two described front-wheels（5）It is arranged on car body（1）Under front portion Orientation is put；Two described pedals（6）It is separately mounted to car body（1）Front two side positions；Described battery carrier（11）Fixing It is arranged on car body（1）Central lower position, described set of cells（10）It is fixedly mounted on battery carrier（11）In, described controller （12）It is arranged on set of cells（10）Top, and and set of cells（10）It is connected；Described left and right electric pushrod（8）The hinged peace in lower end It is contained in described left and right electric pushrod mounting seat（104）On, left and right electric pushrod（8）Piston rod end be hingedly mounted on balance Seat（16）Left side edge center；Electric pushrod before and after described（9）It is hingedly mounted on described electric pushrod peace in front and back Dress seat（105）On, electric pushrod in front and back（9）Piston rod end be hingedly mounted on balancing seat（16）Rear edge centre bit Put；Described direction driving switch（3）It is arranged on car body（1）The handrail on upper right side（101）On, described wheel hub motor locking is opened Close（4）It is arranged on car body（1）The handrail of upper left side（101）On；Two described wheel hub motors（7）, left and right electric pushrod（8）With Electric pushrod in front and back（9）, direction driving switch（3）With wheel hub motor locking switch（4）Pass through circuit and set of cells respectively（10） And controller（12）It is connected, set of cells（10）Power, controller are provided（12）Control signal is provided；The first described gyroscope Sensor（13）Monitoring car body（1）Angle of inclination and incline direction, and signal is passed to controller（12）, controller（12）Will Left and right electric pushrod is passed to after signal processing（8）Electric pushrod in front and back（9）, stretched in various degree respectively, to be adjusted flat Weighing apparatus seat（16）Holding level；The second described gyro sensor（15）Monitoring balancing seat（16）Angle of inclination and inclination side To determining balancing seat（16）Whether it is up to the standard, and signal is passed to controller（12）, controller（12）By signal processing After pass to left and right electric pushrod（8）Electric pushrod in front and back（9）, it is finely adjusted respectively, form negative feedback closed loop control system.

2. as claimed in claim 1 a kind of self-balancing electric wheel chair it is characterised in that：Described controller（12）It is provided with two Individual gear, respectively A gear and B gear, when being in A gear, when direction driving switch（3）During attonity, described wheel hub is electric Machine locking switch（4）Automatically open up, two wheel hub motors（7）Power-off self-locking, prevent car slipping on slope；When being in B gear, when During the driving switch attonity of direction, described wheel hub motor locking switch（4）It is automatically switched off, wheel hub motor（7）Power-off but not from Lock.

3. as claimed in claim 1 a kind of self-balancing electric wheel chair it is characterised in that：Described direction driving switch（3）Bag Include four direction, control wheelchair to advance respectively, turn left, turn right, retreat, described wheel hub motor locking switch（4）Can be manual Open and close.

4. as claimed in claim 1 a kind of self-balancing electric wheel chair it is characterised in that：Two described pedals（6）Surface It is provided with rubber antiskid layer.