Anti-mistaken-touch magnetic damping wheelchair rocker and wheelchair
By designing a magnetically damped wheelchair joystick to prevent accidental touches, the shortcomings of existing wheelchair control joysticks in terms of safety, feel, and adaptability are solved, achieving stable control performance and safety, and adapting to the control needs of different users.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGDONG K SILVER IND CO LTD
- Filing Date
- 2026-01-31
- Publication Date
- 2026-04-21
AI Technical Summary
Existing wheelchair control joysticks have comprehensive defects in terms of physical safety, control feel and user adaptability. They are easily affected by unintentional shaking or contact with foreign objects, leading to misoperation. In addition, the sensor signal processing effect is limited, affecting the control accuracy and safety.
The wheelchair rocker arm, which employs anti-accidental touch magnetic damping, includes a support module, a control module, a damping module, and a control module. Through the cooperation of displacement monitoring components, anti-accidental touch components, and damping modules, it provides non-linear return force and variable damping. Combined with microswitches and multiple sensors, it achieves mechanical and electrical dual interlocking to ensure the safety and reliability of operation.
It effectively prevents accidental operation, provides a stable control feel and adaptability, improves the safety and reliability of wheelchair operation, and ensures precise control in complex scenarios.
Smart Images
Figure CN121891192A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of wheelchair rocker arms, and in particular to a magnetically damped wheelchair rocker arm and wheelchair that prevents accidental activation. Background Technology
[0002] Currently, the control systems for wheelchairs, especially electric wheelchairs, commonly employ either traditional mechanical joysticks or touchscreens. Joystick-based control is dominant due to its intuitiveness. However, traditional joysticks suffer from significant drawbacks due to their inherent mechanical structure. Unintentional hand tremors or accidental contact with the joystick by clothing or other objects can easily be interpreted as valid control commands, leading to malfunctions that directly affect control accuracy and pose serious safety hazards. In recent years, with advancements in sensor technology, some high-end wheelchairs have incorporated Hall effect sensors or pressure sensors to improve detection accuracy. However, most solutions still suffer from issues related to response latency, false trigger rates, and tactile feedback in human-machine interaction. Particularly in signal processing, filtering interference signals such as hand tremors largely relies on simple low-pass filtering algorithms. These algorithms struggle to effectively distinguish between the user's genuine high-frequency control intentions and useless high-frequency noise, resulting in a poor user experience and potential delays or stutters during device movement.
[0003] To address the aforementioned issues, various specific solutions have been developed in related technologies to attempt improvements. One common approach is to employ a mechanical limiting structure, which uses physical stops to forcibly reduce the effective deflection range of the joystick, aiming to decrease the probability of large-scale accidental touches. Another approach is to introduce software filtering algorithms at the electrical control level, such as integrating low-pass or moving average filters into the controller to process the raw signals collected by the sensors and partially suppress high-frequency jitter noise. Furthermore, some solutions employ pressure-triggered mechanisms, integrating pressure sensors into the joystick grip area; the joystick's control function is activated only when the pressure applied by the user's hand reaches a preset threshold. Regarding force feedback, some more advanced solutions utilize electromagnetic dampers, generating resistance through electromagnetic effects to provide force feedback to the user's operation.
[0004] However, the aforementioned technologies all have significant shortcomings in practical applications and fail to fundamentally solve the problem. First, mechanical limiting structures sacrifice maneuverability, directly reducing the degree of freedom of operation and limiting the user's control ability in complex scenarios requiring rapid, large-angle turns (such as obstacle avoidance). Second, software filtering algorithms have limited effectiveness in suppressing high-frequency noise, failing to completely eliminate jitter interference, and the algorithm itself may introduce phase delay, affecting the system's response speed and resulting in a "lag-like" feeling in operation. Third, triggering mechanisms using fixed pressure thresholds cannot adapt to the different force application habits of different users (such as elderly people with weak strength versus young people with strong strength), easily leading to some users having difficulty activating the system or experiencing false triggering during use. Finally, the damping force provided by linear electromagnetic damping is usually linearly related to the deflection angle or speed, failing to provide gradual, adaptive resistance feedback, making it difficult to effectively guide users to apply precise force in situations requiring fine control.
[0005] Therefore, how to systematically solve the comprehensive defects of existing joysticks in terms of physical safety, control feel and user adaptability is a technical problem that urgently needs to be solved in this field. Summary of the Invention
[0006] In order to systematically solve the comprehensive defects of existing control joysticks in terms of physical safety, control feel and user adaptability, this application provides a magnetic damping wheelchair joystick and wheelchair that prevents accidental touch.
[0007] Firstly, this application provides a magnetic damping wheelchair rocker that prevents accidental touches, employing the following technical solution:
[0008] A magnetic damping wheelchair rocker that prevents accidental activation includes:
[0009] A support module for mounting on a wheelchair, wherein a displacement monitoring component is provided within the support module;
[0010] The control module includes a grip, a joystick, and an anti-accidental touch component. One end of the joystick is movably mounted on the support module and positioned close to the displacement monitoring component. The other end of the joystick is connected to the grip through the anti-accidental touch component. When the grip is not subjected to pressure directed at the joystick, the anti-accidental touch component is used to keep the grip and the joystick mechanically separated.
[0011] A damping module is disposed within the support module and connected to the control lever;
[0012] The control module is electrically connected to the displacement monitoring component, the anti-accidental touch component, and the damping module, respectively.
[0013] By adopting the above technical solution, the support module is installed on the wheelchair. The displacement monitoring component monitors the displacement of the control stick and transmits the signal to the control module. The anti-accidental touch component controls the separation of the grip and the control stick when the grip is not under pressure directed at the control stick. This prevents the control stick from shifting when the user unintentionally touches the grip, helping to avoid accidental wheelchair movements caused by accidental touches and improving safety. Furthermore, the damping module provides non-linear return force and variable damping, allowing the resistance characteristics of the joystick to be dynamically adjusted as needed. The control module is electrically connected to the displacement monitoring component, the anti-accidental touch component, and the damping module. It can control the anti-accidental touch component and the damping module based on the signal from the displacement monitoring component, achieving stable and reliable operation of the entire joystick system and improving the safety, reliability, and operability of wheelchair operation.
[0014] Optionally, the control lever has a movable groove and a slot along its length, the movable groove communicating with the slot, and the end of the movable groove away from the slot passing through the end face of the control lever. The grip is provided with a slide rod, which slides into the movable groove and is spaced apart from the inner wall of the movable groove. The slide rod can be inserted into the slot and fit against the inner wall of the slot. The anti-accidental touch component includes an elastic element, which is disposed between the slide rod and the movable groove. The elastic element is used to move the slide rod away from the slot.
[0015] By adopting the above technical solution, the control lever has a movable groove and a slot, and the grip is equipped with a sliding rod. The sliding rod can slide within the movable groove and can be inserted into the slot to fit against the inner wall of the slot, so that the movement of the grip can be transmitted to the control lever. An elastic element is set between the sliding rod and the movable groove. When the grip is not subjected to pressure pointing towards the control lever, the elastic element moves the sliding rod away from the slot, separating the grip and the control lever. This helps to prevent the grip from accidentally actuating the control lever when there is no pressing operation, thereby effectively preventing accidental activation of the wheelchair rocker and improving the safety and reliability of wheelchair operation.
[0016] Optionally, the anti-accidental touch component includes a micro switch, which is disposed at the bottom of the slot and electrically connected to the control module. When the slide bar is inserted into the slot, the slide bar abuts against the micro switch.
[0017] By adopting the above technical solution, when the user presses the grip to insert the slider into the slot, the slider abuts against the micro switch. The micro switch will transmit this action signal to the control module. After receiving the signal, the control module can confirm that the control lever has been correctly activated, thereby realizing the dual interlock activation of "mechanical and electrical" and effectively solving the problem of misoperation caused by clothing scratches or unintentional touches.
[0018] Optionally, the support module includes a cover and a bowl-shaped bearing seat disposed within the cover. The displacement monitoring component and the control lever are respectively disposed within the cover. One end of the grip passes through the cover. The end of the control lever away from the grip is provided with a ball head. The ball head is disposed within the bowl-shaped bearing seat. A through hole is provided at the bottom of the bowl-shaped bearing seat.
[0019] The damping module includes a damping component and a force feedback component. The damping component and the force feedback component are respectively disposed in the housing and located below the bowl-shaped bearing seat. The force feedback component is located between the damping component and the bowl-shaped bearing seat. One end of the control lever passes through the through hole and is connected to the force feedback component and the damping component in sequence.
[0020] By adopting the above technical solution, the displacement monitoring component and control lever are housed within the enclosure, which protects them and reduces the impact of the external environment. The ball joint of the control lever is housed within a cup-shaped bearing seat, which serves as the core mechanical fulcrum of the entire joystick system, bearing forces in all directions and ensuring smooth and precise omnidirectional rotation of the control lever. The damping component and force feedback component are housed within the enclosure and located below the cup-shaped bearing seat, with the force feedback component positioned between the damping component and the cup-shaped bearing seat. The control lever is sequentially connected to the force feedback component and the damping component, thus enabling the active force feedback and variable damping functions to be layered. Independent structures are used to implement active force feedback and variable damping separately, facilitating independent control and optimization of both. Furthermore, a reasonable layout avoids mutual interference between the two, achieving high-performance and crosstalk-free mechanical characteristics, and improving the joystick's control performance and reliability.
[0021] Optionally, the force feedback component includes a first coil and a plurality of permanent magnets. The plurality of permanent magnets are respectively disposed on the cover and located below the bowl-shaped bearing seat. One end of the control lever that protrudes from the through hole is connected to the first coil. The plurality of permanent magnets are arranged around the first coil. The first coil is electrically connected to the control module.
[0022] By adopting the above technical solution, the control module can apply a precise current to the first coil. Since several permanent magnets are arranged around the first coil, a radial magnetic field can be provided. According to the Lorentz force principle, when the first coil moves in this magnetic field, it will generate a proportional and lag-free axial thrust, thereby enabling the control stick connected to the first coil to obtain active force feedback. This can be used to provide centering force, simulate boundaries, create virtual gear feel, or transmit vibration prompts. It can simulate progressive resistance, overcome the problem of the single feel of traditional linear electromagnetic dampers, realize precise force feedback control of the control stick, and improve the control performance of the wheelchair rocker.
[0023] Optionally, the support module includes a carrier seat disposed within the housing and below the bowl-shaped bearing seat. A sealed cavity is formed within the carrier seat. One end of the control lever extends into the sealed cavity and is provided with a shear plate. The damping assembly includes a magnetorheological fluid and an electromagnetic coil. The magnetorheological fluid fills the sealed cavity and surrounds the shear plate. The electromagnetic coil is wound around the outer wall of the carrier seat and electrically connected to the control module. The electromagnetic coil changes the viscosity of the magnetorheological fluid by adjusting the magnitude of the current.
[0024] By employing the above technical solution, variable damping is achieved using the properties of magnetorheological fluid. When the electromagnetic coil is not energized, the viscosity of the magnetorheological fluid is low, resulting in low resistance. When energized, the generated magnetic field causes a sharp increase in the viscosity of the magnetorheological fluid, generating a strong damping force on the movement of the shear blade. The control module can change the viscosity of the magnetorheological fluid within milliseconds by adjusting the current of the electromagnetic coil, thereby rapidly and over a wide range adjusting the damping force on the shear blade. This effectively suppresses high-frequency hand tremors from the user, providing a more stable original input signal for the control system and thus improving the problem of unstable operation caused by hand tremors.
[0025] Optionally, the support module includes a flexible seal, which is connected to the bearing seat and the control lever respectively, and the flexible seal is used to close the sealing cavity.
[0026] By adopting the above technical solution, the flexible seal is used to connect the support seat and the control stick to seal the cavity, which helps to avoid leakage of magnetorheological fluid in the cavity, reduces the probability of failure caused by liquid leakage, improves the reliability and service life of the joystick, and effectively avoids adverse effects on the surrounding environment and other components caused by liquid leakage.
[0027] Optionally, a shield is provided between the damping component and the force feedback component. The shield has a clearance groove, through which the control lever passes. The shield is used to isolate the influence between the damping component and the force feedback component.
[0028] By adopting the above technical solution, the shielding cover is made of a high-permeability material and is placed between the damping component and the force feedback component. Since the damping component generates a strong leakage magnetic field during operation, the shielding cover can provide a low magnetic resistance path for these leakage magnetic fields, confining their magnetic lines of force inside the shielding cover. This significantly reduces the magnetic field strength leaked into the space where the force feedback component is located, avoiding interference with the precise working magnetic field between the permanent magnet and the first coil in the force feedback component, and ensuring the independence and accuracy of the operation of the two components.
[0029] Optionally, the displacement monitoring component includes multiple sensors, which are respectively disposed within the support module and electrically connected to the control module. The multiple sensors are arranged around the control lever array and are located above the damping module.
[0030] By adopting the above technical solution, multiple sensors are arranged in an array around the control lever inside the support module and above the damping module. This allows for simultaneous monitoring of the control lever's displacement from multiple angles, providing the control module with more comprehensive positional information. This enables the control module to make more precise adjustments and controls to the wheelchair's operating status, thereby improving the accuracy and stability of the operation.
[0031] Secondly, this application provides a wheelchair that employs the anti-accidental touch magnetic damping wheelchair rocker arm described in any of the above descriptions.
[0032] In summary, this application includes at least one of the following beneficial technical effects:
[0033] 1. By combining the anti-accidental touch components, damping module, displacement monitoring component and control module, the comprehensive defects of existing joysticks in terms of physical safety, control feel and user adaptability are solved;
[0034] 2. Through the cooperation of the damping component and the force feedback component, active force feedback and variable damping functions can be realized respectively, which helps to improve the joystick's control performance and reliability;
[0035] 3. The shielding cover can prevent the damping components and force feedback components from interfering with each other, so that each module can operate independently and stably. Attached Figure Description
[0036] Figure 1 This is a schematic diagram of the overall structure of a magnetically damped wheelchair rocker arm for preventing accidental touches, as described in an embodiment of this application.
[0037] Figure 2 It is along Figure 1 A cross-sectional view along line AA in the middle.
[0038] Figure 3 yes Figure 2 A magnified view of a section at point B.
[0039] Figure 4 This is a partial structural cross-sectional view of a magnetically damped wheelchair rocker arm for preventing accidental touches, as described in an embodiment of this application.
[0040] Explanation of reference numerals in the attached figures:
[0041] 1. Support module; 11. Cover; 111. Mounting base; 112. Flexible cover; 12. Bowl-shaped bearing seat; 121. Through hole; 13. Bearing seat; 131. Sealing cavity; 14. Flexible seal; 15. Shielding cover; 151. Relief groove; 16. Displacement monitoring component; 161. Sensor; 2. Control module; 21. Grip; 211. Slide rod; 22. Control lever; 221. Ball head; 222. Movable groove; 223. Slot; 224. Shear plate; 23. Anti-accidental touch component; 231. Elastic component; 232. Micro switch; 3. Damping module; 31. Damping component; 311. Magnetorheological fluid; 312. Electromagnetic coil; 32. Force feedback component; 321. First coil; 322. Permanent magnet; 4. Control module. Detailed Implementation
[0042] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.
[0043] This application discloses a magnetically damped wheelchair rocker that prevents accidental activation.
[0044] It should be noted that, in the description of this invention, the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0045] Reference Figure 1 and Figure 2 An anti-accidental-touch magnetic damping wheelchair rocker includes a support module 1, a control module 2, a damping module 3, and a control module 4. The support module 1 is mounted on the wheelchair, the control module 2 is movably mounted on the support module 1, the damping module 3 is housed within the support module 1 and connected to the control module 2, and the control module 4 is electrically connected to the damping module 3. This design improves the safety and comfort of operating the wheelchair rocker.
[0046] Specifically, the support module 1 includes a cover 11, a cup-shaped bearing seat 12, a load-bearing seat 13, and a flexible seal 14. The cover 11 includes a mounting base 111 and a flexible cover 112 mounted on the mounting base 111. The mounting base 111 is fixed to the wheelchair, providing rigid support for other components. The flexible cover 112 is used to enclose the mounting base 111, providing protection for the components mounted on it. Furthermore, the flexible cover 112 is capable of flexible deformation to avoid interfering with the movement of the operating module.
[0047] The bowl-shaped bearing housing 12 and the support housing 13 are fixedly connected to the mounting base 111, with the support housing 13 located below the bowl-shaped bearing housing 12. A sealing cavity 131 is formed inside the support housing 13, and a flexible seal 14 is connected to the support housing 13 and used to seal the sealing cavity 131. In this embodiment, both the bowl-shaped bearing housing 12 and the support housing 13 are made of metal, and the flexible seal 14 and the flexible cover 112 are made of rubber bellows.
[0048] The control module 2 includes a grip 21, a joystick 22, and an anti-accidental touch component 23. The grip 21 has an integrally formed slide bar 211, one end of which is connected to a flexible cover 112, and the slide bar 211 is located inside the flexible cover 112. The grip 21 is the part for the user to hold and is made of a non-slip material, such as rubber, with a textured surface for easy gripping.
[0049] Reference Figure 2 and Figure 3 One end of the control lever 22 is fixedly connected to a ball head 221, and the other end of the control lever 22 has a movable groove 222 and a slot 223 along its length, with the movable groove 222 communicating with the slot 223. The end of the movable groove 222 away from the slot 223 extends through the end face of the control lever 22. The ball head 221 is installed in the cup-shaped bearing seat 12 to form a ball joint structure, thereby ensuring that the control lever 22 can rotate smoothly and accurately in all directions.
[0050] The slide bar 211 is slidably inserted into the movable groove 222 and spaced apart from the inner wall of the movable groove 222. The slide bar 211 can be inserted into the slot 223 and fit against the inner wall of the slot 223 so that the movement of the grip 21 can be transmitted to the control lever 22.
[0051] The anti-accidental touch component 23 includes an elastic element 231 and a micro switch 232. The elastic element 231 is disposed between the slide bar 211 and the movable slot 222, and the micro switch 232 is disposed at the bottom of the slot 223 and electrically connected to the control module 4. In this embodiment, the elastic element 231 is a spring, used to keep the slide bar 211 away from the slot 223.
[0052] When the user presses the grip 21, the slide bar 211 overcomes the elastic force of the elastic element 231 and inserts into the slot 223, while triggering the micro switch 232. At this time, the action of the grip 21 can be transmitted to the control lever 22 to realize the control of the wheelchair. When the user releases the grip 21, the elastic element 231 causes the slide bar 211 to return to the initial position and separate from the control lever 22 to avoid misoperation.
[0053] Reference Figure 2 and Figure 4The damping module 3 includes a damping component 31 and a force feedback component 32. The damping component 31 and the force feedback component 32 are respectively disposed within the mounting base 111 and located below the bowl-shaped bearing seat 12, with the force feedback component 32 positioned between the damping component 31 and the bowl-shaped bearing seat 12. A through hole 121 is provided at the bottom of the bowl-shaped bearing seat 12, and one end of the control lever 22 passes through the through hole 121 and is sequentially connected to the force feedback component 32 and the damping component 31.
[0054] The force feedback component 32 includes a first coil 321 and a plurality of permanent magnets 322. The plurality of permanent magnets 322 are respectively disposed on the mounting base 111 and located below the cup-shaped bearing seat 12. One end of the control lever 22 that protrudes from the through hole 121 is fixedly connected to the first coil 321. The plurality of permanent magnets 322 are arranged around the first coil 321, and the first coil 321 is electrically connected to the control module 4.
[0055] When the control module 4 applies current to the first coil 321, according to the Lorentz force principle, the first coil 321 will be subjected to a force in the magnetic field generated by the permanent magnet 322, thereby providing active force feedback to the joystick 22 for providing return force, simulating boundaries, creating virtual gear feel, etc. For example, when the user tilts the joystick, the force generated by the first coil 321 can return the joystick to the center position.
[0056] One end of the control lever 22 extends into the sealed cavity 131 and is fixedly connected to a shear plate 224. The flexible seal 14 is fixedly connected to the control lever 22 to seal the sealed cavity 131. The damping assembly 31 includes a magnetorheological fluid 311 and an electromagnetic coil 312. The magnetorheological fluid 311 fills the sealed cavity 131 and wraps around the shear plate 224. The electromagnetic coil 312 is wound around the outer wall of the support 13 and electrically connected to the control module 4.
[0057] When the user moves the joystick, the action drives the shear blade 224 to move in the magnetorheological fluid 311 via the control lever 22. When the electromagnetic coil 312 is not energized, the magnetorheological fluid 311 is a low-viscosity liquid with minimal resistance. When the control module 4 applies current to the electromagnetic coil 312, the generated magnetic field causes the ferromagnetic particles in the magnetorheological fluid 311 to chain, resulting in a sharp increase in viscosity and generating a strong, controllable shear damping force on the movement of the shear blade 224.
[0058] A shielding cover 15 is fixedly connected inside the mounting base 111. The shielding cover 15 is located between the damping component 31 and the force feedback component 32, and a clearance groove 151 is provided on the shielding cover 15. The control lever 22 is set through the clearance groove 151. In this embodiment, the shielding cover 15 is made of a high magnetic permeability material such as permalloy or electrical pure iron, which can effectively "capture" the strong leakage magnetic field generated by the electromagnetic coil 312 and guide it to form a closed loop, preventing it from affecting the working magnetic field of the force feedback component 32, and ensuring the independent and stable operation of each module.
[0059] A displacement monitoring component 16 is installed within the mounting base 111. The displacement monitoring component 16 includes multiple sensors 161, each disposed within the mounting base 111 and electrically connected to the control module 4. The multiple sensors 161 are arranged in an array around the control lever 22, and are located between the cup-shaped bearing housing 12 and the first coil 321. In this embodiment, the sensors 161 are photoelectric encoder sensors 161. In other embodiments, the displacement monitoring component 16 can also be installed above the cup-shaped bearing housing 12, as long as it can detect the displacement of the control lever 22.
[0060] When the joystick 22 tilts, the position of the joystick 22 relative to the sensor 161 changes. The sensor 161 array can analyze the tilt angle and amplitude of the joystick 22 on the X and Y axes in real time with high precision, and send this displacement data to the control module 4. Because its physical position is far away from the magnetic field source below, the accuracy of its signal detection is effectively guaranteed.
[0061] The control module 4 is installed inside the wheelchair. In this embodiment, the control module 4 uses a circuit board with a built-in microprocessor. It is used to receive activation signals from the micro switch 232 and position signals from the sensor 161, and according to an internal algorithm (e.g., combined with user-preset modes, wheelchair speed, etc.), to control the current supplied to the electromagnetic coil 312 and the first coil 321 in real time and independently, thereby precisely controlling the feel of the joystick, and finally outputting control commands to the wheelchair's motor drive system.
[0062] For example, when the displacement monitoring component 16 detects a change in the tilt angle of the control lever 22, the control module 4 can adjust the current of the first coil 321 according to a preset program to achieve force feedback; at the same time, according to the user's needs or operating conditions, the current of the electromagnetic coil 312 can be adjusted to change the viscosity of the magnetorheological fluid 311 and provide appropriate damping.
[0063] The implementation principle of the anti-accidental-touch magnetic damping wheelchair rocker arm in this embodiment is as follows: When the user consciously presses down on the grip 21, the slide bar 211 overcomes the elastic force of the elastic element 231 and inserts into the slot 223, simultaneously triggering the micro switch 232, thereby activating the entire control system. In the activated state, any tilting operation of the user on the grip 21 will be transmitted to the control lever 22 and accurately captured by the sensor 161, which can send the displacement signal to the control module 4.
[0064] Based on the signal, the control module 4 outputs corresponding motion control commands to the wheelchair's drive system on the one hand, and applies different currents to the first coil 321 and the electromagnetic coil 312 in real time on the other hand, so as to dynamically generate active power feedback and variable damping force that match the control intention, thereby providing the user with a control experience with different mechanical feedback.
[0065] When the user releases downward pressure on the grip 21, or when any unintentional touch fails to create effective pressure, the elastic element 231 drives the slide bar 211 to reset, instantly disengaging the mechanical connection between the grip 21 and the control lever 22, and simultaneously resetting the micro switch 232. At this time, the control module 4 loses its activation signal, immediately stops parsing any displacement signals, and interrupts all external control outputs. The entire joystick system returns to an intrinsically safe standby state, thus eliminating the risk of accidental wheelchair activation due to unintentional hand movements or external collisions.
[0066] This application also discloses a wheelchair, including the anti-accidental touch magnetic damping wheelchair rocker described above.
[0067] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A magnetically damped wheelchair rocker arm designed to prevent accidental activation, characterized in that, include: A support module (1) is used to be installed on a wheelchair, and a displacement monitoring component (16) is provided inside the support module (1). The control module (2) includes a grip (21), a joystick (22), and an anti-accidental touch component (23). One end of the joystick (22) is movably mounted on the support module (1) and located near the displacement monitoring component (16). The other end of the joystick (22) is connected to the grip (21) through the anti-accidental touch component (23). When the grip (21) is not subjected to pressure directed at the joystick (22), the anti-accidental touch component (23) is used to keep the grip (21) and the joystick (22) mechanically separated. A damping module (3) is disposed within the support module (1) and connected to the control lever (22); The control module (4) is electrically connected to the displacement monitoring component (16), the anti-accidental touch component (23), and the damping module (3), respectively.
2. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 1, characterized in that: The control lever (22) has a movable groove (222) and a slot (223) respectively along its length. The movable groove (222) is connected to the slot (223). The end of the movable groove (222) away from the slot (223) passes through the end face of the control lever (22). The grip (21) is provided with a slide rod (211). The slide rod (211) is slidably inserted into the movable groove (222) and spaced apart from the inner wall of the movable groove (222). The slide rod (211) can be inserted into the slot (223) and fit against the inner wall of the slot (223). The anti-accidental touch component (23) includes an elastic element (231). The elastic element (231) is disposed between the slide rod (211) and the movable groove (222). The elastic element (231) is used to move the slide rod (211) away from the slot (223).
3. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 2, characterized in that: The anti-accidental touch component (23) includes a micro switch (232), which is disposed at the bottom of the slot (223) and electrically connected to the control module (4). When the slide rod (211) is inserted into the slot (223), the slide rod (211) abuts against the micro switch (232).
4. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 1, characterized in that: The support module (1) includes a cover (11) and a bowl-shaped bearing seat (12) disposed in the cover (11). The displacement monitoring component (16) and the control lever (22) are respectively disposed in the cover (11). One end of the grip (21) passes through the cover (11). The end of the control lever (22) away from the grip (21) is provided with a ball head (221). The ball head (221) is disposed in the bowl-shaped bearing seat (12). The bottom of the bowl-shaped bearing seat (12) is provided with a through hole (121). The damping module (3) includes a damping component (31) and a force feedback component (32). The damping component (31) and the force feedback component (32) are respectively disposed inside the cover (11) and located below the bowl-shaped bearing seat (12). The force feedback component (32) is located between the damping component (31) and the bowl-shaped bearing seat (12). One end of the control lever (22) passes through the through hole (121) and is connected to the force feedback component (32) and the damping component (31) in sequence.
5. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 4, characterized in that: The force feedback component (32) includes a first coil (321) and a plurality of permanent magnets (322). The plurality of permanent magnets (322) are respectively disposed on the cover (11) and located below the bowl-shaped bearing seat (12). One end of the control lever (22) protruding from the through hole (121) is connected to the first coil (321). The plurality of permanent magnets (322) are arranged around the first coil (321). The first coil (321) is electrically connected to the control module (4).
6. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 4, characterized in that: The support module (1) includes a support seat (13), which is located inside the cover (11) and below the bowl-shaped bearing seat (12). A sealed cavity (131) is provided inside the support seat (13). One end of the control lever (22) extends into the sealed cavity (131) and is provided with a shear plate (224). The damping assembly (31) includes a magnetorheological fluid (311) and an electromagnetic coil (312). The magnetorheological fluid (311) fills the sealed cavity (131) and wraps the shear plate (224). The electromagnetic coil (312) is wound around the outer wall of the support seat (13) and electrically connected to the control module (4). The electromagnetic coil (312) changes the viscosity of the magnetorheological fluid (311) by adjusting the magnitude of the current.
7. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 6, characterized in that: The support module (1) includes a flexible seal (14), which is connected to the bearing seat (13) and the control lever (22) respectively. The flexible seal (14) is used to close the sealing cavity (131).
8. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 4, characterized in that: A shield (15) is provided between the damping component (31) and the force feedback component (32). A clearance groove (151) is provided on the shield (15). The control lever (22) is provided through the clearance groove (151). The shield (15) is used to isolate the influence between the damping component (31) and the force feedback component (32).
9. The anti-accidental touch magnetic damping wheelchair rocker arm according to claim 1, characterized in that: The displacement monitoring component (16) includes multiple sensors (161), which are respectively disposed in the support module (1) and electrically connected to the control module (4). The multiple sensors (161) are arranged in an array around the control lever (22) and are located above the damping module (3).
10. A wheelchair, characterized in that: Includes the anti-accidental touch magnetic damping wheelchair rocker as described in any one of claims 1-9.