CN209662014U - A kind of full landform intelligent robot wheel-chair - Google Patents
A kind of full landform intelligent robot wheel-chair Download PDFInfo
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- CN209662014U CN209662014U CN201822144393.XU CN201822144393U CN209662014U CN 209662014 U CN209662014 U CN 209662014U CN 201822144393 U CN201822144393 U CN 201822144393U CN 209662014 U CN209662014 U CN 209662014U
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Abstract
A kind of full landform intelligent robot wheel-chair of the utility model, including vehicle body, the lifting motor being arranged on vehicle body, control unit and sensor unit；Multiple preceding mechanical feet and rear mechanical foot are set on vehicle body；Preceding machinery foot and rear mechanical foot are connect with the output end of lifting motor；Front vehicle wheel is set on preceding machinery foot；Rear power wheel is set on mechanical foot at least after a pair, rear support wheel is set on mechanical foot after remaining；Sensor unit includes the sensor that at least one is used to perceive vehicle body state；Control unit is connect with sensor, rear dynamic wheel, lifting motor signal respectively.The utility model passes through multiple separate machine feet to move up and down, attitude transducer, direction sensor, pressure sensor, range sensor, touch sensor are added simultaneously, for perceiving the state of entire vehicle and each mechanical foot, it is greatly promoted to realize safer leaping over obstacles, climbing ladder, stablize functions, the traffic capacitys such as vehicle body.
Description
Technical field
The utility model belongs to the field of medical instrument technology more particularly to a kind of full landform intelligent robot wheel-chair.
Background technique
For the elderly and extremity disabled persons using operation wheelchair, on the one hand this disadvantaged group are using wheelchair as a kind of generation
Step tool, is able to solve the trip of the elderly and physical disabilities patient and the use of appellative function: level walking, above and below stair.
On the other hand also there is the demand at various intelligent families: control, communication, amusement, monitoring, diagnosis etc..Intelligent electric stair-climbing wheel chair is
Love disadvantaged group are advocated in country, the one kind developed under the background of harmonious society is created and is suitable for the legs such as disabled person and the elderly
The Novel movable ancillary equipment of foot inconvenience crowd.
However most of intelligent electric stair-climbing wheel chair is taken turns typically only by traveling using triangle wheel or crawler belt knot at present
Structure realizes the function of stair activity.Therefore, it is in the prior art climb building intelligent electric wheelchair due to use above-mentioned fixed structure,
Cause it that can not adapt to complicated landform, the traffic capacity is insufficient, and is easy to appear slipping phenomenon, and there are severe compromises.
Utility model content
The purpose of this utility model is to provide a kind of full landform intelligent robot wheel-chairs, can be transported up and down by multiple
Dynamic separate machine foot, while adding attitude transducer, direction sensor, pressure sensor, range sensor, touching sensing
Device, for perceiving the state of entire vehicle and each mechanical foot, to realize safer leaping over obstacles, climbing ladder, stablize vehicle
The functions such as body, the traffic capacity greatly promote.To achieve the above objectives, the present invention adopts the following technical solutions:
A kind of full landform intelligent robot wheel-chair, it is single including vehicle body, the lifting motor being arranged on the vehicle body, control
Member and sensor unit；
Multiple preceding mechanical feet and rear mechanical foot are respectively provided at left and right sides of the vehicle body；Mechanical foot and rear mechanical foot before described
It is connect with the output end of the lifting motor；
Front vehicle wheel is set on mechanical foot before described；At least it is a pair of it is described after rear power wheel is set on mechanical foot, described in remaining
Rear support wheel is set on mechanical foot afterwards；
The sensor unit includes the sensor that at least one is used to perceive the vehicle body state；
Described control unit is connect with the sensor, rear dynamic wheel, lifting motor signal respectively.
Preferably, the sensor unit includes posture and direction sensor.
Preferably, the sensor unit includes touch sensor；The touch sensor setting is in the preceding mechanical foot
On；The front vehicle wheel is stretched out in the front end of the touch sensor.
Preferably, the touch sensor setting is on the rear mechanical foot；Institute is stretched out in the front end of the touch sensor
State rear support wheel and rear power wheel.
Preferably, the sensor unit includes pressure sensor, left range sensor and right range sensor；The pressure
Force snesor is mounted on preceding mechanical foot and rear mechanical foot；The left range sensor and right range sensor are separately mounted to institute
State left front portion and the right front portion of vehicle body.
It preferably, further comprise intelligent mobile backrest unit；The intelligent mobile backrest unit and control unit signal
Connection.
Preferably, power wheel before the front vehicle wheel includes front direction wheel and is a pair of；The preceding power wheel and control unit are believed
Number connection.
Preferably, the rear power wheel includes power motor.
Preferably, the preceding mechanical foot is symmetrical arranged；Mechanical foot is symmetrical arranged after described.
Preferably, the preceding mechanical foot includes straight line slide unit and lead screw；The screw rod is fixed on the vehicle body；It is described straight
Line slide unit is moved along the screw rod；The upper section of the lead screw is connect with lifting motor.
Compared with prior art, the utility model has the following beneficial effects: the utility model increase sensor unit, mutually
The independently operated multiple mechanical feet that can freely up and down move, the power of entire wheel-chair operation are provided by rear power wheel, are sensed
Device unit is used to perceive the state of entire vehicle and each mechanical foot, the terrain information control that control unit is transmitted according to sensor unit
Lifting and putting down for each mechanical foot is made, thus realize safer leaping over obstacles, climbing ladder, stablize the functions such as vehicle body, it can
The purpose for adapting to different terrain, improves its traffic capacity.
Detailed description of the invention
Fig. 1 is the power perspective view of the full landform intelligent robot wheel-chair of an embodiment of the present invention.
Wherein, 1- intelligent mobile backrest unit；2- control unit；3- posture and direction sensor；Mechanical foot after 4-；After 5-
Support wheel；6- rear power wheel；Power wheel before 7-；8- front direction wheel；9- touch sensor；10- pressure sensor；The left distance of 11-
Sensor；The right range sensor of 12-；13- lifting motor, mechanical foot before 14-.
Specific embodiment
It is described in more detail below in conjunction with full landform intelligent robot wheel-chair of the schematic diagram to the utility model,
Which show the preferred embodiments of the utility model, it should be appreciated that those skilled in the art can modify described herein reality
With advantageous effects that are novel, and still realizing the utility model.Therefore, following description should be understood as art technology
Personnel's is widely known, and is not intended as limitations of the present invention.
As shown in Figure 1, a kind of full landform intelligent robot wheel-chair, including vehicle body, the lifting motor being arranged on vehicle body
13, control unit 2 and sensor unit；Multiple preceding mechanical feet 14 and rear mechanical foot 4 are respectively provided at left and right sides of vehicle body；Preceding machinery
Foot 14 is symmetrical arranged；Mechanical foot 4 is symmetrical arranged afterwards；The upper end of preceding machinery foot 14 and rear mechanical foot 4 is defeated with lifting motor 13
Outlet connection；Front vehicle wheel is set on preceding machinery foot 14；Rear power wheel 6 is set on mechanical foot 4 after a pair, rear power wheel 6 is located at vehicle
The left and right sides of body；Power output is provided when normally travel and climbing ladder, wheel diameters are no more than 7 cun, and wheel is too greatly in rank
Activity space very little on ladder is unfavorable for traffic capacity promotion；Rear support wheel 5, rear support wheel 5 are set on mechanical foot 4 after remaining
It only provides a supporting role, wheel diameters can be less than 5 cun；Sensor unit includes the biography that at least one is used to perceive vehicle body state
Sensor；Control unit 2 is connect with sensor, rear dynamic wheel, 13 signal of lifting motor respectively.In the present embodiment, be equipped with by
The mechanical foot of computer-controlled can freely up and down move eight, the power of eight mechanical feet moved up and down is by eight lifting motors
13 i.e. brushless motor provides.This eight mechanical feet are all driven by programmable key control unit 2 simultaneously, according to landform
The each mechanical foot of difference control lifting and putting down, to achieve the purpose that adapt to different terrain, but in order to guarantee safety, at certain
Etching system will keep at least front and back to have four mechanical feet to land at one.Such as in going up or down stairway, eight mechanical feet are by that can compile
The key control unit 2 of journey controls, and shows different height, but vehicle is always maintained at horizontal equilibrium state.Due to eight machines
Tool foot is mutually indepedent, and the range of up and down motion is also larger, so the utility model is in safer situation for complicated landform
Under have stronger adaptability, therefore the traffic capacity is greatly improved.In addition, in the case where that can guarantee vehicle balance,
The height adjustment that integral body can be achieved solves the old sitting posture adjustment of disabled person or inconvenient activity or sitting posture is too low asks
Topic.
In order to promote the safety of vehicle, sensor unit includes posture and direction sensor 3, touch sensor 9, pressure
Sensor 10, left range sensor 11 and right range sensor 12；The setting of touch sensor 9 is on preceding mechanical foot 14 and rear mechanical
On foot 4；Front vehicle wheel is stretched out in the front end of touch sensor 9；Rear support wheel 5 and rear power wheel 6 are stretched out in the front end of touch sensor 9.
Pressure sensor 10 mechanical foot 14 and junction of vehicle body, the junction of rear mechanical foot 4 and vehicle body before being mounted on；Left Distance-sensing
Device 11 and right range sensor 12 are separately mounted to left front portion and the right front portion of vehicle body.Specifically, attitude transducer is for real-time
The balance of vehicle is perceived, programmable core control unit 2 is according to each mechanical foot length of the variation of posture adjustment, to reach balance
Purpose.Such as wheel-chair occurs to Left-Tilt, then programmable core control module is according to inclined angle calculation, according to meter
It calculates result control left side machinery foot and promotes left side bodywork height, and the mechanical foot in control the right lowers the right bodywork height, thus
Achieve the purpose that vehicle is allowed to balance again；To achieve the purpose that stable vehicle body, it is desirable that real-time detection number is 100 times/second or more；
Direction sensor is mainly used for the variation in real-time perception vehicle direction in the process of moving, 2 basis of programmable core control unit
Direction change is calculated, and dynamic adjusts the speed of each wheel, to guarantee that the driving direction of vehicle does not deviate by；Wheel-chair
The variation of ground surface or terrain at left and right sides of the range sensor detecting real-time of front installation, once landform changes, programmable core
Heart control unit 2 controls each mechanical foot at once to adapt to different terrain, such as step downstairs occurs, at this moment programmable core control
Unit 2 processed can first put down two of foremost mechanical feet, support wheel-chair, then further according to the traveling situation of vehicle according to
It is secondary to put down each mechanical foot, to achieve the purpose that steadily to get out of a predicament or an embarrassing situation；Left range sensor 11 and right range sensor 12 respectively to
To left down, bottom right real-time detection distance perceives topography variation, ultrasonic distance detector can be used, install the left front portion of vehicle body,
Also it may be mounted at the Vehicular left pedal lower end of wheel-chair.Proximal end detection range is less than 30CM, and distal end detection range is greater than 1M, per second
Detection times are greater than 100 times；Pressure sensor 10 lands born pressure for each mechanical foot of real-time perception, programmable core
Control unit 2 can judge the state that each mechanical foot is lifted or put down according to pressure value, it will also be appreciated that the pressure that each machinery foot is born
Power, so that unbalance stress be avoided to lead to the situation of vehicle shakiness；Touch sensor 9 for each mechanical foot of real-time perception and ladder or
The contact condition of barrier, position are the front of rear support wheel 5, rear power wheel 6, preceding power wheel 7 and front direction wheel 8, compare vehicle
Wheel more first touches barrier, and has certain elasticity, is unlikely to damage during touching, programmable core control unit
2, which control mechanical foot, lifts, and climbs ladder or across obstacle.
It in the present embodiment, further comprise intelligent mobile backrest unit 1；Intelligent mobile backrest unit 1 and control unit 2
Signal connection.Intelligent mobile backrest unit 1 is fixed using guide rail, uses motor as power drive, is pressed so that taking people's operation
Key can move up and down backrest, and the height of backrest does not exceed the minimum altitude of seat, and after backrest decline, taking people can
It to pass in and out wheel-chair by rear, solves using unique electric back folding function, allows the old of disabled person or inconvenient activity
Year people can pass in and out by the rear portion of vehicle, it is convenient directly from the bed or sofa disengaging wheelchair；The back of wheel-chair can dock simultaneously
Closestool, seating people, which can directly move, falls back on closestool, does not need others and assists in；People is taken when passing in and out wheel-chair also avoids body
The problem of steering.When operation, when seating people needs to enter wheel-chair from the bed, wheel-chair is first leaned against into bed, is then adjusted manually
The height for saving wheel-chair reuses special power button for the backrest of wheel-chair by the height adjustment of seat and bed to unanimously
Manual descending to one height of seat, at this moment take people oneself can directly transfer to other use from the rear of wheel-chair to wheel-chair
In, and do not have to leave the bed.Similarly, when seating people needs to go to toilet sitting block closet, wheel-chair is first leaned against into toilet, is then adjusted
The height of wheel-chair reuses special power button for wheel-chair by the height adjustment of seat and toilet to as far as possible unanimously
Backrest drop to one height of seat, at this moment take people oneself can directly transfer to other use from the rear of wheel-chair to toilet
On, and do not have to get off, it is not required to very important person and assists in and help.It is to take people in upper and lower wheelchair that the utility model, which is also an advantage that,
The body for taking people does not have to turn to, and it is also abnormal for the old man of disabled person or inconvenient activity that this, which seems simple movement,
It is difficult.
In the present embodiment, in order to guarantee driving dynamics when going up or down stairway, the utility model is dynamic using unique wheel
Power is laid out to guarantee that vehicle when mechanical foot is alternately lifted, has always power for travelling.Front vehicle wheel includes 8 He of front direction wheel
Power wheel 7 before a pair；Preceding power wheel 7 is located at the left and right sides of vehicle body；Preceding power wheel 7 is connect with 2 signal of control unit, is only being climbed
If climbing rear power wheel 6 when ladder provides power output in the state of lifting, and provides additionally when keeping straight on and being short of power
Power supplement.Wheel diameters are no more than 7 cun, and activity space very little of the wheel too greatly on ladder is unfavorable for the traffic capacity and mentions
It rises.It is respectively provided with a power wheel on preceding machinery foot 14 and rear mechanical foot 4, for driving vehicle to travel, no matter when is guarantee in this way
Front two rows power wheel always has a row to land, to guarantee vehicle power.And it does not influence to turn to when driving on level land, preceding power wheel
7 pack up, and front direction wheel 8 lands, and achievees the purpose that optional turning.It could be aware that by those skilled in the art, rear power
Wheel 6, preceding power wheel 7 include power motor, the output axis connection of power motor and power wheel.
In the present embodiment, preceding mechanical foot 14 and rear mechanical foot 4 include straight line slide unit and lead screw；Straight line slide unit is fixed on
On vehicle body；Lead screw is moved along straight line slide unit；The upper section of lead screw is that brushless motor is connect with lifting motor 13.Screw rod and straight line slide unit
Stroke be greater than 36CM, guarantee that the height of vehicle can promote at least 36CM.The power output ratio that screw rod is connect with brushless motor
For 4:1, brushless electrical power is greater than 100 watts.In the present invention in order to guarantee that vehicle body is not so high, safety is improved, all
Upper and lower space is saved as far as possible, and motor and actuating unit are mounted on the bottom of vehicle, and the driving of screw rod is also mounted at
Vehicle bottom can preferably save height, while the center of gravity of vehicle is also lower, more conducively the stabilization of vehicle.In addition, brushless motor
Power be greater than 100 watts.In order not to waste electric power, installation power-off is stopped on each brushless motor, is not needing mobile machine foot
When, brushless motor is checked, electric power is on the one hand saved, it is on the other hand also safer.
In the present embodiment, the CPU of different vendor can be used in control unit 2, does not limit to using DSP, ARM chip, software
The real-time acquisition of each sensor information, the independent mechanical foot of control eight are realized in programming, and four power wheels power off brake apparatus, root
The functions such as vehicle balance, lifting, decline, climbing are completed according to the instruction for taking people.Controlling the upper and lower of eight independent mechanical feet
When movement, need accurately to control the movement position of each mechanical foot, position control accuracy is less than 0.05mm, and mechanical foot is transported up and down
Dynamic speed is greater than 50mm/s.
To sum up, in full landform intelligent robot wheel-chair provided by the embodiment of the utility model, the utility model has
Following advantages:
1) the utility model is using eight independent mechanical feet movable up and down, in up/down steps or across obstacle
When, it is total that at least four mechanical feet is kept to land, guarantee safety, while using sensor unit, perceive whole vehicle state, dynamic adjusts
Vehicle body guarantees safety, improves the comfort level for taking people.
2) unique electric back folding function is used, wheelchair is realized and is docked with bed, sofa, the good of toilet.
3) using eight independent mechanical feet movable up and down, so that the scope of activities for taking people greatly increases；
4) height adjustment that vehicle can be realized by mechanical foot, facilitates the daily work of the old man of disabled person and inconvenient activity
It is dynamic.
The preferred embodiment that above are only the utility model, does not play the role of any restrictions to the utility model.
Any person of ordinary skill in the field, in the range of not departing from the technical solution of the utility model, to the utility model
The technical solution and technology contents of exposure make the variation such as any type of equivalent replacement or modification, belong to without departing from the utility model
Technical solution content, still fall within the protection scope of the utility model.
Claims (10)
1. a kind of full landform intelligent robot wheel-chair, which is characterized in that including vehicle body, the lifting being arranged on vehicle body electricity
Machine, control unit and sensor unit；
Multiple preceding mechanical feet and rear mechanical foot are respectively provided at left and right sides of the vehicle body；Before described mechanical foot and rear machinery foot with
The output end of the lifting motor connects；
Front vehicle wheel is set on mechanical foot before described；Rear power wheel is set at least a pair of rear mechanical foot, machine after remaining is described
Rear support wheel is set on tool foot；
The sensor unit includes the sensor that at least one is used to perceive the vehicle body state；
Described control unit is connect with the sensor, rear dynamic wheel, lifting motor signal respectively.
2. full landform intelligent robot wheel-chair according to claim 1, which is characterized in that the sensor unit includes
Posture and direction sensor.
3. full landform intelligent robot wheel-chair according to claim 2, which is characterized in that the sensor unit includes
Touch sensor；The touch sensor setting is on the preceding mechanical foot；Before the front end stretching of the touch sensor is described
Wheel.
4. full landform intelligent robot wheel-chair according to claim 3, which is characterized in that the touch sensor setting
On the rear mechanical foot；The rear support wheel and rear power wheel are stretched out in the front end of the touch sensor.
5. full landform intelligent robot wheel-chair according to claim 2, which is characterized in that the sensor unit includes
Pressure sensor, left range sensor and right range sensor；The pressure sensor mechanical foot and rear mechanical foot before being mounted on
On；The left range sensor and right range sensor are separately mounted to left front portion and the right front portion of the vehicle body.
6. full landform intelligent robot wheel-chair according to claim 1, which is characterized in that further comprise intelligent mobile
Backrest unit；The intelligent mobile backrest unit is connect with control unit signal.
7. full landform intelligent robot wheel-chair according to claim 1, which is characterized in that the front vehicle wheel includes front
Power wheel before to wheel and a pair；The preceding power wheel is connect with control unit signal.
8. full landform intelligent robot wheel-chair according to claim 1, which is characterized in that the rear power wheel includes dynamic
Force motor.
9. full landform intelligent robot wheel-chair according to claim 1, which is characterized in that mechanical foot is symmetrically set before described
It sets；Mechanical foot is symmetrical arranged after described.
10. full landform intelligent robot wheel-chair according to claim 1, which is characterized in that before described mechanical foot it is good with
Mechanical foot includes straight line slide unit and lead screw afterwards；The screw rod is fixed on the vehicle body；The straight line slide unit is along the screw rod
It is mobile；The lead screw is connect with lifting motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822144393.XU CN209662014U (en) | 2018-12-20 | 2018-12-20 | A kind of full landform intelligent robot wheel-chair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822144393.XU CN209662014U (en) | 2018-12-20 | 2018-12-20 | A kind of full landform intelligent robot wheel-chair |
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| CN209662014U true CN209662014U (en) | 2019-11-22 |
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| CN201822144393.XU Active CN209662014U (en) | 2018-12-20 | 2018-12-20 | A kind of full landform intelligent robot wheel-chair |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481406A (en) * | 2020-03-25 | 2020-08-04 | 温州职业技术学院 | Walking booster |
| CN112224300A (en) * | 2020-12-15 | 2021-01-15 | 之江实验室 | Stable walking method for biped robot to descend steps |
| CN115778698A (en) * | 2022-12-04 | 2023-03-14 | 广东技术师范大学 | Intelligent creeping wheelchair |
| CN117124897A (en) * | 2023-10-30 | 2023-11-28 | 北京云迹科技股份有限公司 | Robot that can climb wall fills electric pile |
| CN118286006A (en) * | 2024-04-03 | 2024-07-05 | 东南大学 | Wheelchair structure capable of ascending and descending steps and intelligent control method thereof |
-
2018
- 2018-12-20 CN CN201822144393.XU patent/CN209662014U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481406A (en) * | 2020-03-25 | 2020-08-04 | 温州职业技术学院 | Walking booster |
| CN111481406B (en) * | 2020-03-25 | 2022-08-16 | 温州职业技术学院 | Walking booster |
| CN112224300A (en) * | 2020-12-15 | 2021-01-15 | 之江实验室 | Stable walking method for biped robot to descend steps |
| CN115778698A (en) * | 2022-12-04 | 2023-03-14 | 广东技术师范大学 | Intelligent creeping wheelchair |
| CN117124897A (en) * | 2023-10-30 | 2023-11-28 | 北京云迹科技股份有限公司 | Robot that can climb wall fills electric pile |
| CN118286006A (en) * | 2024-04-03 | 2024-07-05 | 东南大学 | Wheelchair structure capable of ascending and descending steps and intelligent control method thereof |
| CN118286006B (en) * | 2024-04-03 | 2025-02-07 | 东南大学 | A wheelchair structure capable of going up and down stairs and its intelligent control method |
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