Universal wheel automatic locking system and control method thereof

Abstract

The present invention discloses a universal wheel automatic locking system and a control method thereof, comprising a universal wheel unlocking mechanism, an electrical control system connected to the universal wheel unlocking mechanism, the electrical control system comprising a universal wheel unlocking mechanism driver, a control handle, a controller, a driving wheel motor, and a battery, the universal wheel unlocking mechanism driver is connected to the universal wheel unlocking mechanism, the controller is respectively connected to the universal wheel unlocking mechanism driver, the control handle, and the driving wheel motor; the controller reads the position change of the control handle and sends an unlocking or locking signal to the universal wheel unlocking mechanism driver according to the unlocking judgment condition; the universal wheel unlocking mechanism driver drives the universal wheel unlocking mechanism to move, and the controller controls the driving wheel motor to move. The present invention can realize unlocking and automatic locking according to the user's operation intention. The control method of the present invention can judge whether unlocking is required, and the sequence of unlocking and turning.

Description

Technical Field

[0001] The invention relates to a universal wheel locking technology, and in particular to a universal wheel automatic locking system and a control method thereof. Background Art

[0002] Universal wheels are common follow-up wheels in life. People with limited mobility often need to use wheelchairs to travel. However, when users need to get on or off the subway, or pass through ditches or ridges, the universal wheels will rotate horizontally and then fall into the grooves or be unable to pass through the ridges, which can easily cause danger or even cause overturning. Therefore, it is necessary to lock the steering of the universal wheels so that the universal wheels will not deflect at will and fall into the ditches or ridges. However, universal wheels are usually not locked. Even if they are, the locking and unlocking of the universal wheels usually depends on the user's judgment of the use environment and is achieved manually by operating the switch.

[0003] Secondly, the universal wheel locking function is a safety function. Users sometimes forget to activate this function, and frequently manually lock and unlock it during use, which is inconvenient to use. Therefore, it is necessary to be able to identify the user's operating intention and automatically lock and unlock the universal wheel. Summary of the invention

[0004] Purpose of the invention: The first purpose of the present invention is to provide a universal wheel automatic locking system which can realize unlocking and automatic locking according to the user's operation intention; the second purpose of the present invention is to provide a control method of the universal wheel automatic locking system which can judge whether unlocking is needed at present and the unlocking and turning sequence according to the previous operating state.

[0005] Technical solution: The present invention includes a universal wheel unlocking mechanism and an electrical control system connected to the universal wheel unlocking mechanism, the electrical control system includes a universal wheel unlocking mechanism driver, a control handle, a controller, a driving wheel motor, and a battery, the universal wheel unlocking mechanism driver is connected to the universal wheel unlocking mechanism, the controller is respectively connected to the universal wheel unlocking mechanism driver, the control handle, and the driving wheel motor; the controller reads the position change of the control handle and sends an unlocking or locking signal to the universal wheel unlocking mechanism driver according to the unlocking judgment condition; the universal wheel unlocking mechanism driver drives the universal wheel unlocking mechanism to move, and the controller controls the motion of the driving wheel motor.

[0006] The universal wheel unlocking mechanism includes a universal wheel, a universal wheel hole sleeve, an electromagnet, a spring, and a rotating shaft. The universal wheel is arranged at the end of the rotating shaft, and the universal wheel hole sleeve is located on the side of the rotating shaft. The electromagnet is a hollow structure. The electromagnet and the spring are both sleeved on the universal wheel hole sleeve. The spring is compressed under the suction force of the electromagnet, thereby driving the universal wheel hole sleeve to move to the left to achieve unlocking.

[0007] A hole matching with the universal wheel hole sleeve is formed on the side of the rotating shaft, and a groove is formed longitudinally from the center of the hole. In a locked state, the universal wheel hole sleeve extends into the hole, and the rotating shaft rotates within the range limited by the groove.

[0008] The universal wheel unlocking mechanism also includes a manual unlocking mechanism, which is arranged at one end of the universal wheel hole sleeve away from the rotating shaft. When the electrical control system is not working, the universal wheel is unlocked by manually rotating the manual unlocking mechanism.

[0009] The present invention also includes a control method for the universal wheel automatic locking system, comprising the following steps:

[0010] (1) The controller reads the position change of the coordinate point at the bottom of the control handle;

[0011] (2) The controller performs logical judgment based on the previous operating status to confirm unlocking and the execution sequence of unlocking and steering;

[0012] (3) If the unlocking condition is met, the controller sends an unlocking signal to the universal wheel unlocking mechanism driver; if the locking condition is met, the controller sends a locking signal to the universal wheel unlocking mechanism driver;

[0013] (4) The universal wheel unlocking mechanism driver drives the universal wheel unlocking mechanism to perform unlocking or locking action;

[0014] (5) After the unlocking or locking action is completed, the controller controls the drive wheel motor to perform the drive wheel steering action in step (2).

[0015] In step (2), if the coordinate point in the previous operating state is located in the forward area, the instruction to maintain locking is output first and then the current driving wheel steering instruction is executed.

[0016] When the current coordinate point is located in the retreat area, and the coordinate point in the previous running state is located in any one of the stop area, the retreat area, the left turn area, and the right turn area, the unlock command is output first and then the retreat command is executed.

[0017] When the current coordinate point is in the forward area and the coordinate point in the previous operating state is in the stop area, the unlock command is output first and then the forward command is executed; if the coordinate point in the previous operating state is in the backward area, the forward command is executed first and then the lock command is output; if the coordinate point in the previous operating state is in the left turn area or the right turn area, the lock command is output first and then the forward command is executed.

[0018] When the current coordinate point is located in the left-turn area or the right-turn area, and the coordinate point in the previous operation state is located in the stop area or the reverse area, the unlock command is output first and then the steering command is executed.

[0019] When the current coordinate point is located in the left-turn area or the right-turn area, and the coordinate point was located in the left-turn area or the right-turn area in the previous operating state, the steering instruction is directly executed without unlocking.

[0020] Beneficial effects: Compared with the prior art, the present invention has the following beneficial effects: (1) the universal wheel is automatically locked in the self-propelled state to ensure that the universal wheel is not deflected by external forces; (2) when the left and right turning angles are large and reach a threshold, the universal wheel is automatically unlocked to facilitate steering; (3) it can determine whether to unlock, and the order of unlocking and driving wheel control to ensure smooth unlocking; (4) when there is no electricity, the universal wheel can be unlocked by a manual unlocking mechanism to facilitate pushing and moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural block diagram of the universal wheel automatic locking system of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the universal wheel unlocking mechanism in the present invention in an unlocked state;

[0023] Figure 3 It is a structural schematic diagram of the universal wheel unlocking mechanism in the present invention in a locked state;

[0024] Figure 4 A schematic diagram of the unlocking threshold of the control method of the universal wheel automatic locking system of the present invention;

[0025] Figure 5 It is an unlocking judgment logic diagram when the current coordinate point is located in the retreat area in the method of the present invention;

[0026] Figure 6 It is an unlocking judgment logic diagram when the current coordinate point is located in the forward area in the method of the present invention;

[0027] Figure 7 It is an unlocking judgment logic diagram when the current coordinate point is located in the left turn or right turn area in the method of the present invention;

[0028] Figure 8 This is an unlocking judgment logic diagram when the current coordinate point is located in the stop area in the method of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below in conjunction with specific implementation methods and accompanying drawings.

[0030] like Figure 1As shown, the universal wheel automatic locking system of the present invention includes a universal wheel unlocking mechanism 206, an electrical control system connected to the universal wheel unlocking mechanism 206, and the electrical control system includes a universal wheel unlocking mechanism driver 201, a control handle 202, a controller 203, a driving wheel motor 204, and a battery 205. The universal wheel unlocking mechanism driver 201 is connected to the universal wheel unlocking mechanism 206, and the controller 203 is respectively connected to the universal wheel unlocking mechanism driver 201, the control handle 202, and the driving wheel motor 204; the controller 203 reads the position change of the control handle 202 and sends an unlocking or locking signal to the universal wheel unlocking mechanism driver 201 according to the unlocking judgment condition; the universal wheel unlocking mechanism driver 201 drives the universal wheel unlocking mechanism 206 to move, and the controller 203 controls the motion of the driving wheel motor 204.

[0031] like Figure 2 and Figure 3 As shown, the universal wheel unlocking mechanism 206 includes a universal wheel 101, a universal wheel hole sleeve 102, a mechanical frame 103, an electromagnet 104, a manual unlocking mechanism 105, a spring 106, and a rotating shaft 107. The universal wheel 101 is arranged at the end of the rotating shaft 107, the universal wheel hole sleeve 102 is located on the side of the rotating shaft 107, the electromagnet 104 is a hollow structure, the electromagnet 104 and the spring 106 are both sleeved on the universal wheel hole sleeve 102, and the spring 106 is compressed under the suction of the electromagnet 104, thereby driving the universal wheel hole sleeve 102 to move to the left to achieve unlocking. In this embodiment, a hole matching with the universal wheel hole sleeve 102 is provided on the side of the rotating shaft 107, and a groove is provided longitudinally from the center position of the hole. In this embodiment, the groove is "V" shaped. In the locked state, the universal wheel hole sleeve 102 extends into the hole, and the rotating shaft 107 can rotate within the range limited by the groove, thereby ensuring that the universal wheel 1 will not deviate significantly in the self-propelled state. The manual unlocking mechanism 105 is arranged at one end of the universal wheel hole sleeve 102 away from the rotating shaft 107. When the electrical control system is not working, the user pulls the manual unlocking mechanism 105 backward to the unlocking position to realize manual unlocking. The universal wheel 101 is unlocked by manually rotating the manual unlocking mechanism 105, which is convenient for pushing and moving. The universal wheel 101, the universal wheel hole sleeve 102, the mechanical frame 103, the electromagnet 104, the manual unlocking mechanism 105, the spring 106, and the rotating shaft 107 are all installed on the mechanical frame 103.

[0032] The control method of the universal wheel automatic locking system of the present invention comprises the following steps:

[0033] (1) The controller 203 reads the position change of the coordinate point 305 at the bottom of the control handle 202;

[0034] (2) The controller 203 performs a logical judgment based on the last operating state to confirm the unlocking and the execution sequence of unlocking and turning;

[0035] (3) If the unlocking condition is met, the controller 203 sends an unlocking signal to the universal wheel unlocking mechanism driver 201; if the locking condition is met, the controller 203 sends a locking signal to the universal wheel unlocking mechanism driver 201;

[0036] (4) The universal wheel unlocking mechanism driver 201 drives the electromagnet 104 in the universal wheel unlocking mechanism 206

[0037] Perform unlocking or locking actions;

[0038] (5) After the unlocking or locking action is completed, the controller 203 controls the driving wheel motor 204 to perform the driving wheel steering action in step (2).

[0039] like Figure 4 As shown, the coordinate point 305 outputs two coordinates, X and Y, and information about the forward, left, right, backward, and stop areas where the coordinates are located. The Y coordinate represents the forward speed component, and the X coordinate represents the steering speed component. The two coordinates work together to form the control of the moving speed and direction. According to the coordinate point 305 obtained by the control handle 202, the unlocking control logic of the universal wheel unlocking is obtained through the unlocking judgment logic diagram.

[0040] like Figures 5 to 8 As shown, in step (2), if the coordinate point 305 in the previous operating state is located in the forward area 302, the instruction to maintain locking is output first and then the current driving wheel steering instruction is executed.

[0041] like Figure 5 As shown, when the current coordinate point 305 is located in the retreat area 307, and in the previous running state the coordinate point 305 is located in any one of the stop area 308, the retreat area 307, the left turn area 304, and the right turn area 303, the unlock command is output first and then the retreat command is executed.

[0042] like Figure 6 As shown, the current coordinate point 305 is located in the forward area 302. If the coordinate point 305 in the previous operating state is located in the stop area 308, the unlock command is output first and then the forward command is executed; if the coordinate point 305 in the previous operating state is located in the backward area 307, the forward command is executed first and then the lock command is output; if the coordinate point 305 in the previous operating state is located in the left turn area 304 or the right turn area 303, the lock command is output first and then the forward command is executed.

[0043] like Figure 7As shown, if the current coordinate point 305 is located in the left turn area 304 or the right turn area 303, and the coordinate point 305 in the previous operating state is located in the stop area 308 or the reverse area 307, the unlock command is output first and then the steering command is executed; if the coordinate point 305 in the previous operating state is located in the left turn area 304 or the right turn area 303, the steering command is executed directly without unlocking.

[0044] like Figure 8 As shown, if the current coordinate point 305 is located in the stop area 308, the last area state before entering the stop area 308 is defined as the area state.

Claims

1. A control method for a universal wheel automatic locking system, characterized in that: The method is applied to a universal wheel automatic locking system, the universal wheel automatic locking system comprising a universal wheel unlocking mechanism (206), characterized in that it also comprises an electrical control system connected to the universal wheel unlocking mechanism (206), the electrical control system comprising a universal wheel unlocking mechanism driver (201), a control handle (202), a controller (203), a driving wheel motor (204), and a battery (205); the universal wheel unlocking mechanism driver (201) is connected to the universal wheel unlocking mechanism (206), the controller (203) is respectively connected to the universal wheel unlocking mechanism driver (201), the control handle (202), and the driving wheel motor (204); the controller (203) reads the position change of the control handle (202) and sends an unlocking or locking signal to the universal wheel unlocking mechanism driver (201) according to an unlocking judgment condition; the universal wheel unlocking mechanism driver (201) drives the universal wheel unlocking mechanism (206) to move, and the controller (203) controls the movement of the driving wheel motor (204); The method comprises the following steps: (1) The controller (203) reads the position change of the bottom coordinate point (305) of the control handle (202); (2) The controller (203) performs a logical judgment based on the last operating state to confirm the unlocking and the execution sequence of unlocking and turning; (3) If the unlocking condition is met, the controller (203) sends an unlocking signal to the universal wheel unlocking mechanism driver (201); if the locking condition is met, the controller (203) sends a locking signal to the universal wheel unlocking mechanism driver (201); (4) The universal wheel unlocking mechanism driver (201) drives the universal wheel unlocking mechanism (206) to perform an unlocking or locking action; (5) After the unlocking or locking action is completed, the controller (203) controls the driving wheel motor (204) to perform the driving wheel steering action in step (2).

2. The control method of the universal wheel automatic locking system according to claim 1, characterized in that: The universal wheel unlocking mechanism (206) comprises a universal wheel (101), a universal wheel hole sleeve (102), an electromagnet (104), a spring (106), and a rotating shaft (107); the universal wheel (101) is arranged at the end of the rotating shaft (107); the universal wheel hole sleeve (102) is located on the side of the rotating shaft (107); the electromagnet (104) is a hollow structure; the electromagnet (104) and the spring (106) are both sleeved on the universal wheel hole sleeve (102); the spring (106) is compressed under the suction force of the electromagnet (104), thereby driving the universal wheel hole sleeve (102) to move leftward, thereby achieving unlocking.

3. The control method of the universal wheel automatic locking system according to claim 2, characterized in that: The rotating shaft (107) has a hole on its side that matches the universal wheel hole sleeve (102), and a groove is longitudinally formed from the center of the hole. In a locked state, the universal wheel hole sleeve (102) extends into the hole, and the rotating shaft (107) rotates within a range limited by the groove.

4. The control method of the universal wheel automatic locking system according to claim 2, characterized in that: The universal wheel unlocking mechanism (206) further comprises a manual unlocking mechanism (105), wherein the manual unlocking mechanism (105) is arranged at one end of the universal wheel hole sleeve (102) away from the rotating shaft (107), and when the electrical control system is not working, the universal wheel (101) is unlocked by manually rotating the manual unlocking mechanism (105).

5. The control method of the universal wheel automatic locking system according to claim 1, characterized in that: In step (2), if the coordinate point (305) in the previous running state is located in the forward area (302), the instruction to maintain locking is output first and then the current driving wheel steering instruction is executed.

6. The control method of the universal wheel automatic locking system according to claim 1, characterized in that: When the current coordinate point (305) is located in the retreat area (307), and in the previous running state the coordinate point (305) is located in any one of the stop area (308), the retreat area (307), the left turn area (304), and the right turn area (303), an unlock command is output first and then the retreat command is executed.

7. The control method of the universal wheel automatic locking system according to claim 1, characterized in that: When the current coordinate point (305) is located in the forward area (302) and the coordinate point (305) in the previous operating state is located in the stop area (308), the unlocking instruction is output first and then the forward instruction is executed; if the coordinate point (305) in the previous operating state is located in the backward area (307), the forward instruction is executed first and then the locking instruction is output; if the coordinate point (305) in the previous operating state is located in the left turn area (304) or the right turn area (303), the locking instruction is output first and then the forward instruction is executed.

8. The control method of the universal wheel automatic locking system according to claim 1, characterized in that: When the current coordinate point (305) is located in the left-turn area (304) or the right-turn area (303), and the coordinate point (305) in the previous running state is located in the stop area (308) or the reverse area (307), the unlocking instruction is output first and then the turning instruction is executed.

9. The control method of the universal wheel automatic locking system according to claim 1, characterized in that: When the current coordinate point (305) is located in the left-turn area (304) or the right-turn area (303), and the coordinate point (305) was located in the left-turn area (304) or the right-turn area (303) in the previous operating state, the steering instruction is directly executed without unlocking.

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