CN205698286U - A kind of nursing assisting system - Google Patents
A kind of nursing assisting system Download PDFInfo
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- CN205698286U CN205698286U CN201620157391.2U CN201620157391U CN205698286U CN 205698286 U CN205698286 U CN 205698286U CN 201620157391 U CN201620157391 U CN 201620157391U CN 205698286 U CN205698286 U CN 205698286U
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Abstract
本实用新型公开一种护理助动系统，包括主车架、转动地设置在所述主车架正上方的座椅，所述座椅底部与主车架之间设置反馈和调整座椅的角度始终保持预定参数状态的座位自动转动机构，所述主车架的左右两侧分别一前一后地设置有两套可调整自身与地面夹角的电机履带行进机构，每组电机履带行进机构与主车架之间均设置有用于缓冲的主体减震机构，所述座椅上设置有用于控制行驶速度与方向的控制面板，所述主车架内部中间设有电源。本实用新型结合座位自动转动机构、电机履带行进机构和主体减震机构可以实现稳定上下楼梯，改变行驶模式和调节速度范围，适用于各种地形，使用者可在不需要外界帮助下正常出行，安全可靠、操作方便。
The utility model discloses a nursing assisting system, which comprises a main frame, a seat rotatably arranged directly above the main frame, feedback and angle adjustment of the seat are set between the bottom of the seat and the main frame The seat automatic rotation mechanism that always maintains the predetermined parameter state. The left and right sides of the main frame are respectively provided with two sets of motor crawler travel mechanisms that can adjust the angle between itself and the ground. Each set of motor crawler travel mechanisms and A main body shock absorbing mechanism for buffering is arranged between the main frames, a control panel for controlling the driving speed and direction is arranged on the seat, and a power supply is arranged in the middle of the inside of the main frame. The utility model combines the seat automatic rotation mechanism, the motor crawler travel mechanism and the main body shock absorption mechanism to realize stable up and down stairs, change the driving mode and adjust the speed range, and is suitable for various terrains. Users can travel normally without external help. Safe and reliable, easy to operate.
Description
Technical field
The utility model relates to a kind of wheelchair, particularly relates to a kind of electric caterpillar band wheelchair, is mainly used in a kind of vehicles going out independently to go on a journey.It is especially suitable for disabled person or the old man of weakness uses.
Background technology
Disabled person and weak old man always need other people treatment could realize daily trip with help in daily life, and are difficult to realize self-sufficiency.In the western countries that welfare of the disabled is relatively flourishing, handicapped only and landslide make tradition hand or the independence trip of electric wheelchair is possibly realized, but consume substantial amounts of funds and install and safeguard.In China, can't popularize now this welfare facility, cause difficulty to a large amount of disabled persons trip, slight step just becomes difficult mountain more, disabled person it is frequently necessary to someone and accompanies and go out, carrying wheelchair of also getting on or off the bus frequently, and the waste plenty of time makes troubles to household simultaneously.Existing electric wheel-chair vehicle can only travel on smooth road surface, and cannot realize stable stair activity.
Utility model content
The purpose of this utility model is to overcome existing wheelchair to pass through property difference, comfortableness difference, the little shortcoming of speed span, there is provided a kind of easy to use, many landform, extremely strong by property, can smoothly and steadily climbing up and down stairs, ensure maximum comfortableness, a kind of electric caterpillar band wheel-chair that can run at high speed simultaneously.
Solving by property difference, comfortableness difference, speed span is little and cannot the problem of stair activity.
The utility model purpose is achieved through the following technical solutions:
A kind of nursing assisting system, including the main car frame of aluminium sheet alloy, it is rotatably arranged at the seat directly over described main car frame, between described seat bottom and main car frame, the angle of setting feedback and adjustment seat remains the seat automatic rotation mechanism of predefined parameter state, the left and right sides of described main car frame is provided with the motor crawler belt walking mechanism of two set adjustable self and ground angle respectively in tandem, often organize the main body damping being provided with between motor crawler belt walking mechanism and main car frame for buffering, it is provided with the control panel for controlling travel speed and direction on described seat, described main car frame bosom is provided with power supply.
Preferably, described seat automatic rotation mechanism at least includes seat steering wheel, worm gear, worm screw and gyro sensor, described worm gear is fixed on seat bottom both sides and is meshed with worm screw respectively, described seat steering wheel is connected with worm drive, described gyro sensor is located at seat bottom, for the angle of full-track feedback seat, and control seat servo driving worm screw and worm gear, adjust chair angle and remain predefined parameter state.
Preferably, described motor crawler belt walking mechanism at least includes wheel hub motor, guide wheel, crawler belt, swinging mounting, swinging mounting steering wheel and torque sensor, the stator axis of described wheel hub motor is connected with main body damping, described crawler belt is by In-wheel motor driving and round Wheel hub motor external rotor and guide wheel, the gear teeth are had on described swinging mounting afterbody, the head side of described swinging mounting is connected with guide wheel, afterbody is connected with wheel hub motor stator axis, described swinging mounting steering wheel is arranged on the bottom of main car frame, it is meshed with the gear teeth on swinging mounting afterbody by gear, described torque sensor is located at swinging mounting steering wheel, change for combining actual torque drives swinging mounting steering wheel to rotate, control swinging mounting rotates around wheel hub motor stator axis, realize that crawler belt is adjacent to contact surface all the time.
Preferably, described wheel hub motor and guide wheel are equipped with groove, mutually chimeric with the tongue inside crawler belt, it is provided with anti-skid design outside described crawler belt, decorative pattern can be variously-shaped.
Preferably, described swinging mounting is gradually increased from head to afterbody, to reduce the deadweight of swinging mounting.
Preferably, described main body damping at least includes that damper and damping are flapped tripod, described damping flap tripod be symmetrically disposed in often set motor crawler belt walking mechanism both sides, wherein, flap angle of tripod of damping is flexibly connected main car frame, another angle connects motor crawler belt walking mechanism and is connected, and the third angle is connected with main car frame by damper so that motor crawler belt walking mechanism independently carries out damping campaign relative to main car frame.
Preferably, described control panel includes rocking bar, and described rocking bar, by making motor operate in the case of different capacity and the travel speed of differential control car of left and right wheels and direction, supports pivot stud simultaneously.
Preferably, described control panel also includes touch control board, for traveling mode conversion, set regulation gravity direction inclination angle, the corresponding maximal rate of every kind of traveling mode with swinging mounting relative to the angle on ground, display speed, dump energy, remaining milimeter number, the limit of rocking bar control speed is selected traveling mode maximal rate, does not push away and completely then calculates in proportion.
Preferably, described traveling mode includes fast mode, low-speed mode, pattern of going upstairs and pattern of going downstairs.
Preferably, described seat is the soft seat rear backrest chair with left and right handrail, and in conjunction with anthroposomatology design shape, described control panel is arranged on the either side handrail of described seat, left and right handrail.
Relative to prior art, the utility model has the advantage that
1) the utility model combines sensor automatic feedback and corrects the common control system with user's manual control, is meeting safety and the comfortableness ensureing user while user's difference requires.
2) the utility model combines motor crawler belt walking mechanism and main body damping, can travel in various landform；Two pairs of four dampers combine damping and flap tripod, and comprehensive realization stably travels；Have and quickly climb up common step and upper function downstairs.
3) four crawler belts of the utility model can carry out independent damping campaign, independently rotated and four motorized wheels relative to main body.
4) having tongue inside the utility model crawler belt, there is decorative pattern in outside；In the rotation by driven by motor simultaneously, self direction can be changed by swinging mounting control.
5) the utility model wheel hub motor rotating speed controlled mainboard control, is realized turning to and keeping straight on by left and right differential, can arrange speed limit on touch control board.
6) the utility model swinging mounting controls swinging mounting steering wheel by mainboard, and swinging mounting has the gear teeth, and the angle of rotation direction can be adjusted in allowing hunting range；The swing of swinging mounting steering wheel is changed according to the feedback of torque sensor.
7) direction of four crawler belts of the utility model control, in that case it can be decided that the height that wheelchair clears the jumps, corresponding stair angle of inclination and and contact area of ground.
8) being provided with adjustable seat steering wheel and gyro sensor on the utility model seat, seat steering wheel receives the feedback of gyro sensor and is corrected seat set angle, makes seat angled with gravity direction all the time；When going upstairs, seat can keep vertical direction.
9) the utility model arranges interface at the selection of touch control board enterprising line speed pattern, basic parameter, and liquid crystal display is used for display speed electricity and arranges parameter.
10) the utility model speed aspect can carry out multi-gear adjustment bag, includes run at high speed (as fled danger), runs at a low speed and stair activity pattern.
Brief description
Fig. 1 is the perspective view of the utility model embodiment.
Fig. 2 is the stereochemical structure detailed schematic of the utility model embodiment.
Fig. 3 is the low-speed running state schematic diagram of the utility model embodiment.
The low-speed running state schematic perspective view that Fig. 3-1 is the utility model embodiment.
Fig. 4 is the high-speed travel state schematic diagram of the utility model embodiment.
The example high-speed travel state schematic perspective view that Fig. 4-1 implements for the utility model.
Fig. 5 is view before the going upstairs of the utility model embodiment.
Fig. 6 is the process status schematic diagram of going upstairs of the utility model embodiment.
Fig. 7 is the process status schematic diagram of going downstairs of the utility model embodiment.
It shown in figure is: 1-seat；2-handrail；3-damper；4-damping is flapped tripod；5-wheel hub motor；6-guide wheel；7-crawler belt；8-main car frame；9-power supply；10-swinging mounting steering wheel；11-swinging mounting；12-rocking bar；13-touch control board；14-gyro sensor；15-seat steering wheel；16-worm gear；17-worm screw；18-torque sensor.
Detailed description of the invention
Below in conjunction with example and accompanying drawing, the utility model is described in detail further, but embodiment of the present utility model is not limited to this.
As depicted in figs. 1 and 2, a kind of nursing assisting system, including the 8th, main car frame is rotatably arranged at seat 1 directly over described main car frame 8, main car frame 8 is made up of aluminum alloy plate materials, in conjunction with triangle stability feature, is built into square vehicle frame.Described seat 1 is the soft seat rear backrest chair with left and right handrail 2, in conjunction with anthroposomatology design shape, gives user a kind of comfort.Feedback is set bottom described seat 1 and between main car frame 8 and adjusts the seat automatic rotation mechanism that the angle of seat 1 remains predefined parameter state, the left and right sides of described main car frame 8 is provided with the motor crawler belt walking mechanism of two set adjustable self and ground angle respectively in tandem, often organize the main body damping being provided with between motor crawler belt walking mechanism and main car frame 8 for buffering, described control panel is arranged on a side handrail 2 of described seat 1, for controlling travel speed and direction, described main car frame 8 bosom is provided with power supply 9, there is provided electrical source of power for system.
nullSpecifically，As shown in Figure 2，Described seat automatic rotation mechanism at least includes seat steering wheel 15、Worm gear 16、Worm screw 17 and gyro sensor 14，Described worm gear 16 is fixed on seat 1 two bottom sides and is meshed with worm screw 17 respectively，Described seat steering wheel 15 and worm screw 17 drive connection，Described gyro sensor 14 is located at seat 1 lower central，Gyro sensor 14 is according to setting，The angle making seat 1 remains the parameter of setting，And then feed back information to seat steering wheel 15，Seat steering wheel 15 rotates accordingly according to feedack，Drive worm screw 17 and worm gear 16，Seat 1 is allowed automatically to correct angle，Realize the angle of full-track feedback seat 1，And control seat steering wheel 15 and drive worm screw 17 and worm gear 16，Adjust seat 1 angle and remain the purpose of predefined parameter state，Default setting and ground keeping parallelism.
Specifically, as depicted in figs. 1 and 2, described motor crawler belt walking mechanism at least includes wheel hub motor the 5th, guide wheel the 6th, crawler belt the 7th, swinging mounting the 11st, swinging mounting steering wheel 10 and torque sensor 18, the stator axis of described wheel hub motor 5 is connected with main body damping, described crawler belt 7 is driven by wheel hub motor 5 and round wheel hub motor 5 outer rotor and guide wheel 6, described guide wheel is located at the front end of crawler belt 7, and guide wheel 6 assists wheel hub motor 5, makes crawler belt 7 stable rotation；nullDescribed swinging mounting 11 is gradually increased from head to afterbody，To reduce the deadweight of swinging mounting 11，Simultaneously，The gear teeth are had on described swinging mounting 11 afterbody，The head side of described swinging mounting 11 is connected with guide wheel 6，Afterbody is connected with wheel hub motor 5 stator axis，Described swinging mounting steering wheel 10 is arranged on the bottom of main car frame 8，It is meshed with the gear teeth on swinging mounting 11 afterbody by gear，Described torque sensor 18 is located at swinging mounting steering wheel 10，Change for combining actual torque drives swinging mounting steering wheel to rotate，The change rotating drive swinging mounting 11 position under the effect of the gear teeth of swinging mounting steering wheel 10，Thus control swinging mounting 11 and rotate around wheel hub motor 5 stator axis，Realize that crawler belt 7 is adjacent to contact surface all the time，The power that described wheel hub motor 5 travels for wheelchair，The present embodiment one has four wheel hub motors 5.
Specifically, described wheel hub motor 5 and guide wheel 6 are equipped with groove, mutually chimeric with the tongue inside crawler belt 7, it is provided with anti-skid design outside described crawler belt 7, decorative pattern can be variously-shaped, improves the frictional force of crawler belt 7 and contact surface.
As shown in Figure 1, described main body damping at least includes that damper 3 and damping are flapped tripod 4, described damping flap tripod 4 be symmetrically disposed in often set motor crawler belt walking mechanism both sides, wherein, flap angle of tripod 4 of damping is flexibly connected main car frame 8, another angle connects motor crawler belt walking mechanism and is connected, the third angle is connected with main car frame 8 by damper 3, motor crawler belt walking mechanism is made independently to carry out damping campaign relative to main car frame 8, it is right that the damper 3 one of the present embodiment has four, main car frame 8 is each side two right, before and after side each pair；The flap upper end pin of tripod 4 of damper 3 one end and damping is connected, and the other end is connected with main car frame 8.
Specifically, described control panel includes rocking bar 12 and touch control board 13, rocking bar 12 is located at the front end of touch control board 13, and described rocking bar 12, by making motor operate in the case of different capacity and the travel speed of differential control car of left and right wheels and direction, supports pivot stud simultaneously；Touch control board 13 is for traveling mode conversion, setting regulation gravity direction inclination angle, the corresponding maximal rate of every kind of traveling mode with swinging mounting relative to the angle on ground, display speed, dump energy, remaining milimeter number, the limit of rocking bar control speed is selected traveling mode maximal rate, does not push away and completely then calculates in proportion；Described traveling mode includes fast mode, low-speed mode, pattern of going upstairs and pattern of going downstairs.
Flap tripod the 4th, wheel hub motor the 5th, guide wheel the 6th, crawler belt the 7th, swinging mounting steering wheel the 10th, swinging mounting the 11st, seat steering wheel the 15th, worm gear the 16th, worm screw 17 and torque sensor 18 of the 2nd, damper the 3rd, the damping of handrail as depicted in figs. 1 and 2 is and is arranged in pairs, wherein, damper the 3rd, damping flap tripod the 4th, wheel hub motor the 5th, guide wheel the 6th, crawler belt the 7th, swinging mounting steering wheel the 10th, swinging mounting 11 and torque sensor 18 all have two right.
Novel nursing assisting system described in the present embodiment, with the locations of structures change of motor crawler belt walking mechanism, is divided into fast mode, low-speed mode, pattern of going upstairs and four kinds of states of pattern of going downstairs.
Low-speed mode state:
As shown in Fig. 3 and Fig. 3-1, left and right two is directed to sky to the guide wheel 6 in crawler belt 7, and now swinging mounting 11 becomes an angle of 90 degrees with ground, reduces the occupation of land space of car body, the stair in less space can be made to realize that car body is turned in less space pivot turn simultaneously.
Fast mode state:
As shown in Fig. 4 and Fig. 4-1, before car body, a pair crawler belt 7 initially becomes 30 degree of angles with ground, now swinging mounting 11 becomes 30 degree of angles with ground, guarantees the barrier by differing heights in conjunction with motor crawler belt walking mechanism, main body damping and the Real-time Feedback by torque sensor 18.One rear pair crawler belt 7 is parallel to the ground, ensures earth-grasping force and stablizes.
Go upstairs mode state:
As it is shown in figure 5, above a pair crawler belt 7 initially becomes 45 degree of angles with ground, actual angle change, according to the feedback of torque sensor 18, makes above a pair crawler belt 7 front end first climb up stair.Then feed back with torque sensor 18 information at swinging mounting steering wheel 10 again, swinging mounting steering wheel 10 drives the swinging mounting 11 making before and after's crawler belt 7 to rotate until the moment of torsion necessarily constant with ground support, now swinging mounting 11 becomes 0 degree of angle with ground, and has certain pressure.
As shown in Figure 6, when going upstairs, guarantee that crawler belt 7 contacts all the time with stair all the time in conjunction with motor crawler belt walking mechanism, main body damping and the Real-time Feedback by torque sensor 18.Owing to swinging mounting 11 has the moment of torsion on relative ground, original 4 wheelchairs landing now become to 8 supports, make stress be more uniformly distributed.Whole process upstairs during swinging mounting 11 contact with ground all the time and have certain holding power, this holding power by swinging mounting steering wheel 10 moment of torsion provide and by torque sensor 18 FEEDBACK CONTROL.When moment of torsion is more than standard value, swinging mounting steering wheel 10 is automatically releasable strength, and when moment of torsion is less than standard value, swinging mounting steering wheel 10 adds strength automatically.The angle of the seat 1 of gyro sensor 14 full-track feedback correction simultaneously, it is ensured that seat 1 is in the state vertical with ground.After reaching half storey turning, as shown in figure 3-1, after only need to being changed to low-speed mode realization turning, again select pattern of going upstairs, repeat said process.
Go downstairs mode state:
As shown in Figure 7, with the torque sensor 18 information feedback at swinging mounting steering wheel 10, swinging mounting steering wheel 10 drives the swinging mounting 11 making before and after's crawler belt 7 to rotate until the moment of torsion necessarily constant with ground support, and now swinging mounting 11 becomes 0 degree of angle with ground, and has certain pressure.
During whole process is gone downstairs, swinging mounting 11 contacts with ground all the time and has certain holding power, and this holding power is provided and by torque sensor 18 FEEDBACK CONTROL by the moment of torsion of swinging mounting steering wheel 10.When moment of torsion is more than standard value, swinging mounting steering wheel 10 is automatically releasable strength, and when moment of torsion is less than standard value, swinging mounting steering wheel 10 adds strength automatically.The angle of the seat 1 of gyro sensor 14 full-track feedback correction simultaneously, it is ensured that seat 1 is in the state vertical with ground.After reaching half storey turning, as shown in figure 3-1, after only need to being changed to low-speed mode realization turning, pattern of going downstairs, weight are again selected
Multiple said process.
Described Novel nursing assisting system can use the device on car body and Digiplex to be controlled simultaneously.
Described Novel nursing assisting system combines sensor automatic feedback and corrects the common control system with user's manual control, is meeting safety and the comfortableness ensureing user while user's difference requires.
Described Novel nursing assisting system combines motor crawler belt walking mechanism and main body damping, can travel in various landform；Two pairs of four dampers combine damping and flap tripod, and comprehensive realization stably travels；Have and quickly climb up common step and upper function downstairs.
Described Novel nursing assisting system realizes turning to and keeping straight on by left and right differential, can arrange speed limit on touch control board.
Described Novel nursing assisting system is provided with adjustable seat steering wheel and gyro sensor, and seat steering wheel receives the feedback of gyro sensor and is corrected seat set angle, makes seat angled with gravity direction all the time；When going upstairs, seat can keep vertical direction.
Embodiment of the present utility model is simultaneously not restricted to the described embodiments; other any without departing from the change made under Spirit Essence of the present utility model and principle, modifications, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620157391.2U CN205698286U (en) | 2016-02-29 | 2016-02-29 | A kind of nursing assisting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620157391.2U CN205698286U (en) | 2016-02-29 | 2016-02-29 | A kind of nursing assisting system |
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| Publication Number | Publication Date |
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| CN205698286U true CN205698286U (en) | 2016-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620157391.2U Expired - Fee Related CN205698286U (en) | 2016-02-29 | 2016-02-29 | A kind of nursing assisting system |
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| CN (1) | CN205698286U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018161443A1 (en) * | 2017-03-06 | 2018-09-13 | Yin Chuanfeng | Electric wheelchair |
| CN109969316A (en) * | 2018-12-27 | 2019-07-05 | 松阳西屏永新机械厂 | A kind of Stair climbing device |
| CN110077706A (en) * | 2019-04-22 | 2019-08-02 | 绍兴上虞北方电子制造有限公司 | It is a kind of to use mobile convenient and fast cold and warm box |
-
2016
- 2016-02-29 CN CN201620157391.2U patent/CN205698286U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018161443A1 (en) * | 2017-03-06 | 2018-09-13 | Yin Chuanfeng | Electric wheelchair |
| CN109969316A (en) * | 2018-12-27 | 2019-07-05 | 松阳西屏永新机械厂 | A kind of Stair climbing device |
| CN110077706A (en) * | 2019-04-22 | 2019-08-02 | 绍兴上虞北方电子制造有限公司 | It is a kind of to use mobile convenient and fast cold and warm box |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20180229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |