CN107890396A - A kind of self-balancing seat - Google Patents

A kind of self-balancing seat Download PDF

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Publication number
CN107890396A
CN107890396A CN201711237668.8A CN201711237668A CN107890396A CN 107890396 A CN107890396 A CN 107890396A CN 201711237668 A CN201711237668 A CN 201711237668A CN 107890396 A CN107890396 A CN 107890396A
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CN
China
Prior art keywords
wheel
driving worm
control arm
balance
sleeve pipe
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.)
Pending
Application number
CN201711237668.8A
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Chinese (zh)
Inventor
管中林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dingyuan Zhong Lin Machinery Technology Co Ltd
Original Assignee
Dingyuan Zhong Lin Machinery Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dingyuan Zhong Lin Machinery Technology Co Ltd filed Critical Dingyuan Zhong Lin Machinery Technology Co Ltd
Priority to CN201711237668.8A priority Critical patent/CN107890396A/en
Publication of CN107890396A publication Critical patent/CN107890396A/en
Pending legal-status Critical Current

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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
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/10—Type of patient
    • A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
    • 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
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • 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
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention discloses a kind of self-balancing seat, anterior-posterior balance sleeve pipe is between the first wheel control arm and the second wheel control arm and is set in outside main support shaft, seat main body is arranged on anterior-posterior balance sleeve pipe, first driving means coordinate driving anterior-posterior balance sleeve pipe to rotate according to the detection signal of balance sensing detection device by worm and gear, realize that anterior-posterior balance is adjusted.Pass through the self-balancing seat of above-mentioned optimization design, it is reasonable in design, wheel body frame is by wheel along ground run, the balance of sensing detection device detection seat main body is balanced, when detecting slope trend, first driving means coordinate adjustment according to detection signal by worm and gear, ensure regulation stationarity and reliability, adjustment actuating mechanism is simple in construction, and cost is cheap, is easy to repair.

Description

A kind of self-balancing seat
Technical field
The present invention relates to seat main body technical field, more particularly to a kind of self-balancing seat.
Background technology
There is the disabled person of many lower limb existing defects in China and the constant old man that walks, their action and amusement receive very Big limitation, greatly reduces happiness, the generation for the depression that some even results in.Conventional wheelchair can only walk on level road, It is unable to stair activity.Also, in the wild in the environment of road bump, the unmanageable balance of user, safety be present using wheelchair Hidden danger.
The content of the invention
To solve technical problem present in background technology, the present invention proposes a kind of self-balancing seat.
A kind of self-balancing seat proposed by the present invention, including：Wheel body frame, seat main body, anterior-posterior balance sleeve pipe, first drive Dynamic device, balance sensing detection device；
Wheel body frame includes the first wheel control arm, the second wheel control arm, main support shaft, and main support shaft is horizontally disposed with, First wheel control arm and the second wheel control arm may be rotatably mounted at main support shaft both ends and vertical with main support shaft respectively, and One wheel control arm both ends are separately installed with the first front-wheel and the first trailing wheel, and the second wheel control arm both ends are separately installed with second Front-wheel and the second trailing wheel；
Anterior-posterior balance sleeve pipe is between the first wheel control arm and the second wheel control arm and is set in outside main support shaft Portion, seat main body are arranged on anterior-posterior balance sleeve pipe；
First driving means include the first motor, the first mounting bracket, the first driving worm gear, the first driving worm screw, the One mounting bracket is fixed on anterior-posterior balance sleeve pipe and is fixed on the first wheel control close to first wheel control arm one end, the first driving worm gear Towards the second wheel control arm side and coaxially arranged with main support shaft, the first driving worm screw may be rotatably mounted at the first peace for arm processed Shelve and engaged with the first driving worm gear, the first motor is connected with the first driving worm screw；
Balance sensing detection device is connected to detect seat main body balance with seat main body, and the first motor is according to flat The detection signal of weighing apparatus sensing detection device passes through the first driving worm screw and drives the first driving worm gear wheel.
Preferably, the first driving worm screw is set perpendicular to main support shaft.
Preferably, in addition to the second drive device；
Second drive device includes the second motor, the second mounting bracket, the second driving worm gear, the second driving worm screw, the Two mounting brackets are fixed on anterior-posterior balance sleeve pipe and are fixed on the second wheel control close to second wheel control arm one end, the second driving worm gear Towards the first wheel control arm side and coaxially arranged with main support shaft, the second driving worm screw may be rotatably mounted at the second peace for arm processed Shelve and engaged with the second driving worm gear, the second motor is connected with the second driving worm screw；
Balance sensing detection device is connected to detect seat main body balance with seat main body, and the second motor is according to flat The detection signal of weighing apparatus sensing detection device passes through the second driving worm screw and drives the second driving worm gear wheel.
Preferably, the second driving worm screw is set perpendicular to main support shaft.
Preferably, in addition to the 3rd drive device and left-right balance sleeve pipe；
Anterior-posterior balance sleeve pipe is provided with anterior-posterior balance bent axle, and anterior-posterior balance bent axle is provided with and set perpendicular to anterior-posterior balance sleeve pipe The longitudinal shaft part put, left-right balance sleeve pipe are set in outside longitudinal shaft part；
3rd drive device includes the 3rd motor, the 3rd mounting bracket, the 3rd driving worm gear, the 3rd driving worm screw, the Three mounting brackets are fixed on anterior-posterior balance sleeve pipe, and the 3rd driving worm gear is set in left-right balance sleeve outer wall and is coaxial therewith cloth Put, the 3rd driving worm screw may be rotatably mounted on the 3rd mounting bracket and be engaged with the 3rd driving worm gear, the 3rd motor and the Three driving worm screw connections；
Seat main body is fixedly mounted on left-right balance sleeve pipe, and the 3rd motor is according to the inspection for balancing sensing detection device Survey signal and the 3rd driving worm gear wheel is driven by the 3rd driving worm screw.
Preferably, the 3rd driving worm screw is set parallel to main support shaft.
Preferably, balance sensing detection device includes gyro sensor and acceleration transducer.
Preferably, the first wheel control arm front end and/or rear end are provided with the first wheel carrier, and the first wheel carrier is provided with parallel arrangement Two the first front-wheels and/or two the first trailing wheels, the second wheel control arm front end and/or rear end be provided with the second wheel carrier, second Wheel carrier is provided with two the second front-wheels and/or two the second trailing wheels of parallel arrangement.
Preferably, two the first front-wheels and the first trailing wheel are in the same plane, and/or before two the first trailing wheels and first Take turns in the same plane.
Preferably, two the second front-wheels and the second trailing wheel are in the same plane, and/or before two the second trailing wheels and second Take turns in the same plane.
In the present invention, the self-balancing seat that is proposed, anterior-posterior balance sleeve pipe is located at the first wheel control arm and the second wheel Between control arm and be set in outside main support shaft, seat main body be arranged on anterior-posterior balance sleeve pipe on, first driving means according to The detection signal for balancing sensing detection device coordinates driving anterior-posterior balance sleeve pipe to rotate by worm and gear, realizes that anterior-posterior balance is adjusted Section.Reasonable in design by the self-balancing seat of above-mentioned optimization design, wheel body frame, along ground run, is balanced by wheel Sensing detection device detects the balance of seat main body, and when detecting slope trend, first driving means are led to according to detection signal To cross worm and gear and coordinate adjustment, ensure regulation stationarity and reliability, adjustment actuating mechanism is simple in construction, and cost is cheap, It is easy to repair.
Brief description of the drawings
Fig. 1 is a kind of structural representation of self-balancing seat proposed by the present invention.
Fig. 2 is a kind of local overlooking structural representation of a kind of embodiment of self-balancing seat proposed by the present invention.
Fig. 3 is a kind of local overlooking structural representation of the another embodiment of self-balancing seat proposed by the present invention.
Embodiment
As shown in Figures 1 to 3, Fig. 1 is a kind of structural representation of self-balancing seat proposed by the present invention, and Fig. 2 is the present invention A kind of a kind of local overlooking structural representation of embodiment of the self-balancing seat proposed, Fig. 3 is one kind proposed by the present invention The local overlooking structural representation of the another embodiment of self-balancing seat.
Reference Fig. 1 and 2, a kind of self-balancing seat proposed by the present invention, including：It is wheel body frame, seat main body 1, front and rear flat Weigh sleeve pipe 3, first driving means, balance sensing detection device；
Wheel body frame includes the first wheel control arm 21, the second wheel control arm 22, main support shaft, and main support shaft level is set Put, the first wheel control arm 21 and the second wheel control arm 22 may be rotatably mounted at respectively main support shaft both ends and with main support shaft Vertically, the both ends of the first wheel control arm 21 are separately installed with the first front-wheel and the first trailing wheel, the both ends of the second wheel control arm 22 point Second front-wheel and the second trailing wheel are not installed；
Anterior-posterior balance sleeve pipe 3 is between the first wheel control arm 21 and the second wheel control arm 22 and is set in main support Outside axle, seat main body 1 is arranged on anterior-posterior balance sleeve pipe 3；
First driving means include the first motor 41, the first mounting bracket 42, first driving worm gear 43, first drives snail Bar 44, it is solid close to the one end of the first wheel control arm 21, the first driving worm gear 43 that the first mounting bracket 42 is fixed on anterior-posterior balance sleeve pipe 3 It is towards the side of the second wheel control arm 22 and coaxially arranged with main support shaft to be scheduled on the first wheel control arm 21, the first driving worm screw 44 may be rotatably mounted on the first mounting bracket 42 and be engaged with the first driving worm gear 43, the first motor 41 and the first driving snail Bar 44 connects；
Balance sensing detection device is connected to detection seat main body 1 with seat main body 1 and balanced, the first motor 41 The first driving worm gear 43 is driven to rotate by the first driving worm screw 44 according to the detection signal of balance sensing detection device.
In other embodiments, in addition to the second drive device；
Second drive device includes the second motor 51, the second mounting bracket 52, second driving worm gear 53, second drives snail Bar 54, it is solid close to the one end of the second wheel control arm 22, the second driving worm gear 53 that the second mounting bracket 52 is fixed on anterior-posterior balance sleeve pipe 3 It is towards the side of the first wheel control arm 21 and coaxially arranged with main support shaft to be scheduled on the second wheel control arm 22, the second driving worm screw 54 may be rotatably mounted on the second mounting bracket 52 and be engaged with the second driving worm gear 53, the second motor 51 and the second driving snail Bar 54 connects；
Balance sensing detection device is connected to detection seat main body 1 with seat main body 1 and balanced, the second motor 51 The second driving worm gear 53 is driven to rotate by the second driving worm screw 54 according to the detection signal of balance sensing detection device.
In the specific work process of the self-balancing seat of the present embodiment, during the road traveling of injustice, when balance passes When sense detection means detects seat run-off the straight, the first motor driving the first driving worm screw rotates, so as to pass through first Worm gear is driven to drive the first wheel control arm to rotate so that the first front-wheel and the first trailing wheel carry out adaptability fluctuating according to road surface and adjusted Section, ensure that seat ensures balance in bumpy road；Equally, the second driving of the second motor driving worm screw rotates, so as to logical Crossing the second driving worm gear drives the second wheel control arm to rotate so that the second front-wheel and the second trailing wheel carry out adaptability according to road surface Rise and fall regulation, ensures that seat ensures balance in bumpy road.
In the present embodiment, the self-balancing seat proposed, anterior-posterior balance sleeve pipe are located at the first wheel control arm and second Between wheel control arm and it is set in outside main support shaft, seat main body is arranged on anterior-posterior balance sleeve pipe, first driving means Coordinate driving anterior-posterior balance sleeve pipe to rotate by worm and gear according to the detection signal of balance sensing detection device, put down before and after realization Weighing apparatus regulation.It is reasonable in design by the self-balancing seat of above-mentioned optimization design, wheel body frame by wheel along ground run, The balance of sensing detection device detection seat main body is balanced, when detecting slope trend, first driving means are believed according to detection Number adjustment is coordinated by worm and gear, ensure regulation stationarity and reliability, adjustment actuating mechanism is simple in construction, and cost is low It is honest and clean, it is easy to repair.
In order to ensure that seat balances in the lateral direction, in a specific embodiment, in addition to the 3rd drive device and a left side Right balancing sleeve 6；
Anterior-posterior balance sleeve pipe 3 is provided with anterior-posterior balance bent axle 31, and anterior-posterior balance bent axle 31 is provided with perpendicular to anterior-posterior balance Longitudinal shaft part that sleeve pipe 3 is set, left-right balance sleeve pipe 6 are set in outside longitudinal shaft part；
3rd drive device includes the 3rd motor 71, the 3rd mounting bracket the 72, the 3rd driving worm gear the 73, the 3rd drives snail Bar 74, the 3rd mounting bracket 72 are fixed on anterior-posterior balance sleeve pipe 3, and the 3rd driving worm gear 73 is set in the outer wall of left-right balance sleeve pipe 6 And be coaxial therewith arranging, the 3rd driving worm screw 74 may be rotatably mounted on the 3rd mounting bracket 72 and be nibbled with the 3rd driving worm gear 73 Close, the 3rd motor 71 is connected with the 3rd driving worm screw 74；
Seat main body 1 is fixedly mounted on left-right balance sleeve pipe 6, and the 3rd motor 71 is according to balance sensing detection device Detection signal by the 3rd driving worm screw 74 drive the 3rd driving worm gear 73 rotate.
In the 3rd specific type of drive of drive device, the driving worm screw of the 3rd motor driving the 3rd rotates, so as to logical Crossing the 3rd driving worm gear drives left-right balance sleeve pipe to rotate, and realizes seat main body balance adjustment in the lateral direction.
In the main body embodiment of drive device, the first driving worm screw 44 is set perpendicular to main support shaft, the second driving Worm screw 54 is set perpendicular to main support shaft, and the 3rd driving worm screw 74 is set parallel to main support shaft, ensures that drive device work is steady It is qualitative.
Balance sensing detection device specific design mode in, balance sensing detection device include gyro sensor and Acceleration transducer, pass through gyroscope and acceleration transducer, when seat has slope trend, first driving means, second Drive device, the 3rd drive device are adjusted according to detection signal, improve seat stability.
Reference picture 3, in order to improve main body of vehicle frame traveling embodiment in, the front end of the first wheel control arm 21 and/ Or rear end is provided with the first wheel carrier 81, the first wheel carrier 81 is provided with two the first front-wheels and/or two the first trailing wheels of parallel arrangement, The front end of second wheel control arm 22 and/or rear end are provided with the second wheel carrier 91, and the second wheel carrier 91 is provided with two of parallel arrangement the Two front-wheels and/or two the second trailing wheels, so as to set six wheels on main body of vehicle frame, ensure that wheel pastes with ground in traveling process Close, improve the moving stability.
In further embodiment, two the first front-wheels and the first trailing wheel are in the same plane, and/or two First trailing wheel and the first front-wheel are in the same plane, in other embodiments, two the second front-wheels and the second trailing wheel It is in the same plane, and/or two the second trailing wheels and the second front-wheel it is in the same plane.
In other embodiments, the first wheel carrier is provided with first rotating shaft, and the second wheel carrier is provided with the second rotating shaft, the One rotating shaft and the second shaft parallel is set in main support shaft and the two is located along the same line, the first wheel carrier can by first rotating shaft The first wheel control arm front end is rotatably installed in, before the second wheel carrier may be rotatably mounted at the second wheel control arm by the second rotating shaft End, when by bumpy road, the first wheel carrier and the second wheel carrier are rotated with surface relief, are realized automatic adjusument, are entered One step improves riding stability.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.

Claims (10)

  1. A kind of 1. self-balancing seat, it is characterised in that including：Wheel body frame, seat main body (1), anterior-posterior balance sleeve pipe (3), One drive device, balance sensing detection device；
    Wheel body frame includes the first wheel control arm (21), the second wheel control arm (22), main support shaft, and main support shaft level is set Put, the first wheel control arm (21) and the second wheel control arm (22) may be rotatably mounted at respectively main support shaft both ends and with main branch Support axle is vertical, and first wheel control arm (21) both ends are separately installed with the first front-wheel and the first trailing wheel, the second wheel control arm (22) both ends are separately installed with the second front-wheel and the second trailing wheel；
    Anterior-posterior balance sleeve pipe (3) is between the first wheel control arm (21) and the second wheel control arm (22) and is set in main branch Support outside axle, seat main body (1) is arranged on anterior-posterior balance sleeve pipe (3)；
    First driving means include the first motor (41), the first mounting bracket (42), the first driving worm gear (43), the first driving Worm screw (44), the first mounting bracket (42) are fixed on anterior-posterior balance sleeve pipe (3) and driven close to first wheel control arm (21) one end, first Dynamic worm gear (43) is fixed on the first wheel control arm (21) towards the second wheel control arm (22) side and coaxial with main support shaft Arrangement, the first driving worm screw (44) may be rotatably mounted on the first mounting bracket (42) and engaged with the first driving worm gear (43), the One motor (41) is connected with the first driving worm screw (44)；
    Balance sensing detection device is connected to detect seat main body (1) balance, the first motor (41) with seat main body (1) The first driving worm gear (43) is driven to rotate by the first driving worm screw (44) according to the detection signal of balance sensing detection device.
  2. 2. self-balancing seat according to claim 1, it is characterised in that the first driving worm screw (44) is perpendicular to main support shaft Set.
  3. 3. self-balancing seat according to claim 1, it is characterised in that also including the second drive device；
    Second drive device includes the second motor (51), the second mounting bracket (52), the second driving worm gear (53), the second driving Worm screw (54), the second mounting bracket (52) are fixed on anterior-posterior balance sleeve pipe (3) and driven close to second wheel control arm (22) one end, second Dynamic worm gear (53) is fixed on the second wheel control arm (22) towards the first wheel control arm (21) side and coaxial with main support shaft Arrangement, the second driving worm screw (54) may be rotatably mounted on the second mounting bracket (52) and engaged with the second driving worm gear (53), the Two motors (51) are connected with the second driving worm screw (54)；
    Balance sensing detection device is connected to detect seat main body (1) balance, the second motor (51) with seat main body (1) The second driving worm gear (53) is driven to rotate by the second driving worm screw (54) according to the detection signal of balance sensing detection device.
  4. 4. self-balancing seat according to claim 3, it is characterised in that the second driving worm screw (54) is perpendicular to main support shaft Set.
  5. 5. self-balancing seat according to claim 1, it is characterised in that also including the 3rd drive device and left-right balance set Manage (6)；
    Anterior-posterior balance sleeve pipe (3) is provided with anterior-posterior balance bent axle (31), and anterior-posterior balance bent axle (31) is provided with perpendicular to front and rear flat Weighed longitudinal shaft part that sleeve pipe (3) is set, and left-right balance sleeve pipe (6) is set in outside longitudinal shaft part；
    3rd drive device includes the 3rd motor (71), the 3rd mounting bracket (72), the 3rd driving worm gear (73), the 3rd driving Worm screw (74), the 3rd mounting bracket (72) are fixed on anterior-posterior balance sleeve pipe (3), and the 3rd driving worm gear (73) is set in left-right balance Sleeve pipe (6) outer wall and it is coaxial therewith arranging, the 3rd driving worm screw (74) may be rotatably mounted on the 3rd mounting bracket (72) and with the Three driving worm gear (73) engagements, the 3rd motor (71) are connected with the 3rd driving worm screw (74)；
    Seat main body (1) is fixedly mounted on left-right balance sleeve pipe (6), and the 3rd motor (71) fills according to balance sensing detection The detection signal put drives the 3rd driving worm gear (73) to rotate by the 3rd driving worm screw (74).
  6. 6. self-balancing seat according to claim 5, it is characterised in that the 3rd driving worm screw (74) is parallel to main support shaft Set.
  7. 7. self-balancing seat according to claim 1, it is characterised in that balance sensing detection device includes gyro sensors Device and acceleration transducer.
  8. 8. self-balancing seat according to claim 1, it is characterised in that the first wheel control arm (21) front end and/or after End is provided with the first wheel carrier (81), and the first wheel carrier (81) is provided with two the first front-wheels and/or two the first trailing wheels of parallel arrangement, Second wheel control arm (22) front end and/or rear end are provided with the second wheel carrier (91), and the second wheel carrier (91) is provided with parallel arrangement Two the second front-wheels and/or two the second trailing wheels.
  9. 9. self-balancing seat according to claim 8, it is characterised in that two the first front-wheels are with the first trailing wheel positioned at same In plane, and/or two the first trailing wheels and the first front-wheel it is in the same plane.
  10. 10. self-balancing seat according to claim 8, it is characterised in that two the second front-wheels and the second trailing wheel are positioned at same In one plane, and/or two the second trailing wheels and the second front-wheel it is in the same plane.
CN201711237668.8A 2017-11-30 2017-11-30 A kind of self-balancing seat Pending CN107890396A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109512593A (en) * 2018-11-19 2019-03-26 潘柏翰 A kind of self-balancing wheelchair for adapting to climb building
CN112192540A (en) * 2020-09-27 2021-01-08 江苏润阳光伏科技有限公司 Intelligent scheduling manned robot
CN112587325A (en) * 2020-12-09 2021-04-02 合肥工业大学 Intelligent obstacle avoidance self-balancing wheelchair and control system thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2191653Y (en) * 1994-05-31 1995-03-15 王锰墩 multifunctional electric wheelchair
CN2792460Y (en) * 2005-04-11 2006-07-05 张孟杰 Electric gearing wheel chair
CN202437494U (en) * 2012-03-01 2012-09-19 常州信息职业技术学院 Six-wheeled self-adaption balance electric wheelchair
CN104887414A (en) * 2015-06-03 2015-09-09 北京理工大学 Omni-directionally movable wheelchair with gravity center adjusting function
CN105596157A (en) * 2016-01-22 2016-05-25 江苏科凌医疗器械有限公司 Multifunctional wheel chair

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2191653Y (en) * 1994-05-31 1995-03-15 王锰墩 multifunctional electric wheelchair
CN2792460Y (en) * 2005-04-11 2006-07-05 张孟杰 Electric gearing wheel chair
CN202437494U (en) * 2012-03-01 2012-09-19 常州信息职业技术学院 Six-wheeled self-adaption balance electric wheelchair
CN104887414A (en) * 2015-06-03 2015-09-09 北京理工大学 Omni-directionally movable wheelchair with gravity center adjusting function
CN105596157A (en) * 2016-01-22 2016-05-25 江苏科凌医疗器械有限公司 Multifunctional wheel chair

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109512593A (en) * 2018-11-19 2019-03-26 潘柏翰 A kind of self-balancing wheelchair for adapting to climb building
CN109512593B (en) * 2018-11-19 2020-05-08 潘柏翰 A self-balancing wheelchair adapted to climbing stairs
CN112192540A (en) * 2020-09-27 2021-01-08 江苏润阳光伏科技有限公司 Intelligent scheduling manned robot
CN112587325A (en) * 2020-12-09 2021-04-02 合肥工业大学 Intelligent obstacle avoidance self-balancing wheelchair and control system thereof

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