Automatic balancing electric wheelchair

Abstract

The utility model belongs to the field of wheelchairs, and relates to an electric wheelchair, in particular to an automatic balancing electric wheelchair which comprises a seat and a wheelchair chassis, the wheelchair chassis comprises a frame, a front axle, a rear axle, a leveling mechanism and a battery rack, a curved bar is fixedly connected to the middle of the frame and fixedly connected with a lower supporting shaft, and the lower supporting shaft is fixedly connected with an upper supporting shaft. The upper end of the lower supporting shaft is fixedly connected with a universal joint, the upper portion of the universal joint is fixedly connected with an upper supporting shaft, the upper end of the upper supporting shaft is fixedly connected with a bearing seat, the upper portion of the bearing seat is fixedly connected with a control box, a gyroscope and a controller are arranged in the control box, and the upper portion of the control box is fixedly connected with a chair seat. When the electric wheelchair passes through a slope and a pit, the controller controls the X-axis motor and the Y-axis motor to pull the seat to swing, so that the seat and passengers on the seat are kept balanced.

Description

Technical Field

[0001] The utility model belongs to the field of wheelchairs, relates to an electric wheelchair, and in particular to an automatically balancing electric wheelchair. Background Art

[0002] Wheelchairs are important means of transportation for the injured, sick, and disabled for home rehabilitation, turnover transportation, medical treatment, and outdoor activities. Wheelchairs not only meet the mobility needs of the physically disabled and those with limited mobility, but more importantly, they facilitate family members to move and take care of patients, allowing patients to exercise and participate in social activities with the help of wheelchairs. With the development of society, more convenient electric wheelchairs have emerged, and users can control electric wheelchairs to move easily. However, whether it is an ordinary wheelchair or an electric wheelchair, when passing over a slope or pitted ground, the wheelchair will tilt, causing the user to feel unbalanced, affecting the riding experience. Utility Model Content

[0003] In view of the above problems, the utility model provides an electric wheelchair capable of automatically adjusting the balance of the seat.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is as follows: an automatic balancing electric wheelchair, comprising a seat and a wheelchair chassis, the wheelchair chassis comprising a frame, a front axle, a rear axle, a leveling mechanism, and a battery rack, a crankshaft is fixedly connected to the middle of the frame, the crankshaft is fixedly connected to a lower support shaft, the upper end of the lower support shaft is fixedly connected to a universal joint, the upper end of the universal joint is fixedly connected to an upper support shaft, the upper end of the upper support shaft is fixedly connected to a supporting seat, the upper end of the supporting seat is fixedly connected to a control box, the control box is provided with a gyroscope and a controller, and the upper end of the control box is fixedly connected to the seat;

[0005] The leveling mechanism includes an X-axis motor and a Y-axis motor, and also includes two fixed joints and two tensioning joints arranged on a supporting seat, and are arranged equidistantly in the order of fixed joint, tensioning joint, fixed joint, and tensioning joint in the clockwise direction of the plane on the supporting seat. Pull ropes are respectively wrapped around the X-axis motor and the Y-axis motor, and the two ends of the pull ropes are respectively connected to the fixed joint and the tensioning joint on opposite sides of the supporting seat.

[0006] Preferably, the wheelchair chassis further comprises a wire-supporting mechanism, wherein the wire-supporting mechanism comprises four wire-tensioning wheels for keeping the pull rope away from the universal joint.

[0007] Preferably, the wire supporting mechanism also includes a rectangular frame, and a rotating shaft is respectively arranged at the four corner points of the rectangular frame. The rotating shaft is rotatably connected to a follower frame, and the follower frame is rotatably connected to a wire tensioning wheel, and the wire tensioning wheel is arranged at the same height as the universal joint, and the side of the wire tensioning wheel away from the universal joint is overlapped with the pull rope.

[0008] Preferably, a support seat is fixedly connected to the frame, and a rectangular frame is fixedly connected above the support seat.

[0009] Preferably, the curved rod is fixedly connected to a motor bracket, an X-axis motor and a Y-axis motor are fixedly connected to the motor bracket, and the X-axis motor and the Y-axis motor are arranged below the lower supporting shaft.

[0010] Preferably, the frame is rotatably connected to the front axle.

[0011] Preferably, the tensioning joint comprises a support rod, a screw rod is passed through the support rod, a nut for positioning the screw rod is provided on the screw rod, and a through hole for the pull rope to pass through is provided on the screw rod.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] When the electric wheelchair in the utility model passes through a slope or a pit, the controller controls the X-axis motor and the Y-axis motor to pull the seat to swing, so that the seat and the passenger on the seat maintain balance.

[0014] The utility model is also provided with a leveling mechanism, which enables the pull rope to be away from the universal joint through the tensioning wheel, and is provided with a follower frame, so that the tensioning wheel can be offset with the pull rope to prevent the pull rope from being separated from the tensioning wheel.

[0015] In the utility model, the drawstring can be loosened or tightened by rotating the screw rod, so as to adjust the tightness of the drawstring. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0017] Figure 1 It is a structural schematic diagram of an automatic balancing electric wheelchair;

[0018] Figure 2 It is a structural schematic diagram of a wheelchair chassis;

[0019] Figure 3 for Figure 2 A magnified view of the structure at center;

[0020] Figure 4 for Figure 2 A magnified view of the structure at B in the middle;

[0021] Figure 5 This is a structural diagram of the wheelchair chassis from another perspective;

[0022] Figure 6 for Figure 5 Enlarged view of the structure at point C in the middle.

[0023] In the above figures, 1. seat; 2. frame; 21. curved rod; 22. lower support shaft; 23. universal joint; 24. upper support shaft; 25. supporting seat; 251. fixing joint; 252. tensioning joint; 2521. supporting rod; 2522. screw rod; 2523. through hole; 2524. nut; 26. control box; 27. supporting seat; 3. front axle; 4. rear axle; 5. battery rack; 6. leveling mechanism; 61. rectangular frame; 62. rotating shaft; 63. follower frame; 64. tensioning wheel; 7. X-axis motor; 8. Y-axis motor; 9. pull rope. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0026] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, an automatic balancing electric wheelchair comprises a seat 1 and a wheelchair chassis. When the electric wheelchair travels on a sloping road, in order to make the seat 1 automatically level, the wheelchair chassis of the utility model comprises a frame 2, a front axle 3, a rear axle 4, a leveling mechanism 6, and a battery rack 5. The rear axle 4 is provided with a motor for driving the wheelchair to move, and the battery rack 5 is used to place batteries. A crankshaft 21 is fixedly connected to the middle of the frame 2, and the crankshaft 21 is fixedly connected to a lower support shaft 22. A universal joint 23 is fixedly connected to the upper end of the lower support shaft 22. The universal joint 23 is commonly used in automobile transmission systems and will not be described in detail here. An upper support shaft 24 is fixedly connected to the upper end of the upper support shaft 24. A support seat 25 is fixedly connected to the upper end of the support seat 25. A control box 26 is fixedly connected to the upper end of the support seat 25. A gyroscope and a controller are arranged in the control box 26. The seat 1 is fixedly connected to the upper end of the control box 26. Due to the existence of the universal joint 23, the seat 1 can swing in the front-back and left-right directions.

[0027] The leveling mechanism 6 includes an X-axis motor 7 and a Y-axis motor 8, and also includes two fixed joints 251 and two tensioning joints 252 arranged on the supporting seat 25, and are arranged equidistantly in the order of fixed joints 251, tensioning joints 252, fixed joints 251, and tensioning joints 252 in the clockwise direction of the plane on the supporting seat 25. A pull rope 9 is respectively wound around the X-axis motor 7 and the Y-axis motor 8, and the two ends of the pull rope 9 are respectively connected to the fixed joints 251 and the tensioning joints 252 on the opposite sides of the supporting seat 25. When the X-axis motor 7 and the Y-axis motor 8 are started, the seat 1 can be driven to swing in the front and back and left and right directions.

[0028] Specifically, the working method of the utility model is as follows: when driving on a sloping road, the gyroscope transmits data about the inclination degree of the wheelchair itself to the controller. After processing, the controller controls the X-axis motor 7 or the Y-axis motor 8 to start, or both of them are started simultaneously or sequentially, thereby pulling the seat 1 to swing and finally achieve balance.

[0029] Furthermore, in terms of spatial arrangement, the X-axis motor 7 and the Y-axis motor 8 serving as driving components are preferably arranged near the lower end of the lower support rod 2521, thereby causing the pull rope to be too close to the universal joint 23. In order to keep the pull rope 9 away from the universal joint 23, the wheelchair chassis of the present invention also includes a wire supporting mechanism, which includes four wire tensioning wheels 64 for keeping the pull rope 9 away from the universal joint 23.

[0030] Furthermore, after the chair seat 1 swings, it will drive the pull rope to move, more specifically, it will cause the pull rope to deviate, and the pull rope will easily detach from the tensioning wheel 64. Therefore, the wire supporting mechanism of the utility model also includes a rectangular frame 61, and the four corner points of the rectangular frame 61 are respectively provided with a rotating shaft 62, the rotating shaft 62 is rotatably connected to a follower frame 63, the follower frame 63 is rotatably connected to a tensioning wheel 64, and the tensioning wheel 64 is arranged at the same height as the universal joint 23, and the tensioning wheel 64 is overlapped with the pull rope on the side away from the universal joint 23.

[0031] Specifically, when the seat 1 drives the cable to deviate, the follower frame 63 can rotate, and the tensioning wheel 64 deviates with the cable, so that the cable does not detach from the tensioning wheel 64. However, the cable is inside the rectangular frame 61, and the cable should be controlled not to contact the rectangular frame 61 after deviating. At the same time, considering the actual use, the controller program sets the seat 1 to swing in the X and Y directions within a range of -20° to 20°.

[0032] Furthermore, a support seat 27 is fixedly connected to the vehicle frame 2 , and a rectangular frame 61 is fixedly connected above the support seat 27 .

[0033] Furthermore, the crankshaft 21 is fixedly connected to a motor bracket, and an X-axis motor 7 and a Y-axis motor 8 are fixedly connected to the motor bracket, and the X-axis motor 7 and the Y-axis motor 8 are arranged below the lower support shaft 22 .

[0034] Furthermore, the frame 2 is rotatably connected to the front axle 3 so that all four wheels of the wheelchair can touch the ground when passing through a pothole.

[0035] Furthermore, the tensioning joint 252 includes a support rod 2521, on which a screw 2522 is passed, that is, the screw 2522 passes through the support rod 2521, and the screw 2522 is provided with a plurality of nuts 2524 for positioning the screw 2522, and the screw 2522 is provided with a through hole 2523 for the pull rope to pass through.

[0036] Specifically, one end of the pull rope is tied to the fixed joint 251, and the other end passes through the through hole 2523 and is tied to the screw rod 2522. When the nut 2524 is loosened, the pull rope is loosened or tightened by rotating the screw rod 2522. When the nut 2524 is tightened, the screw rod 2522 is positioned.

[0037] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. An automatic balancing electric wheelchair, comprising a seat and a wheelchair chassis, characterized in that: The wheelchair chassis includes a frame, a front axle, a rear axle, a leveling mechanism, and a battery rack. A crankshaft is fixedly connected to the middle of the frame, and the crankshaft is fixedly connected to a lower support shaft. A universal joint is fixedly connected to the upper end of the lower support shaft, and an upper support shaft is fixedly connected to the upper end of the universal joint. A supporting seat is fixedly connected to the upper end of the upper support shaft, and a control box is fixedly connected to the upper end of the supporting seat. A gyroscope and a controller are arranged in the control box, and a seat is fixedly connected to the upper end of the control box. The leveling mechanism includes an X-axis motor and a Y-axis motor, and also includes two fixed joints and two tensioning joints arranged on a supporting seat, and are arranged equidistantly in the order of fixed joint, tensioning joint, fixed joint, and tensioning joint in the clockwise direction of the plane on the supporting seat. Pull ropes are respectively wrapped around the X-axis motor and the Y-axis motor, and the two ends of the pull ropes are respectively connected to the fixed joint and the tensioning joint on opposite sides of the supporting seat.

2. The self-balancing electric wheelchair according to claim 1, characterized in that: The wheelchair chassis also includes a wire support mechanism, which includes four wire tensioning wheels for keeping the pull rope away from the universal joint.

3. The self-balancing electric wheelchair according to claim 2, characterized in that: The wire supporting mechanism also includes a rectangular frame, and a rotating shaft is respectively arranged on the four corner points of the rectangular frame. The rotating shaft is rotatably connected to a follower frame, and the follower frame is rotatably connected to a wire tensioning wheel, and the wire tensioning wheel is arranged at the same height as the universal joint, and the side of the wire tensioning wheel away from the universal joint is overlapped with the pull rope.

4. The self-balancing electric wheelchair according to claim 3, characterized in that: A support seat is fixedly connected to the frame, and a rectangular frame is fixedly connected above the support seat.

5. The self-balancing electric wheelchair according to claim 1, characterized in that: The crankshaft is fixedly connected to a motor bracket, an X-axis motor and a Y-axis motor are fixedly connected to the motor bracket, and the X-axis motor and the Y-axis motor are arranged below the lower supporting shaft.

6. The self-balancing electric wheelchair according to claim 1, characterized in that: The vehicle frame is rotatably connected to the front axle.

7. The self-balancing electric wheelchair according to claim 1, characterized in that: The tightening wire joint comprises a support rod, a screw rod is passed through the support rod, a nut for positioning the screw rod is arranged on the screw rod, and a through hole for the pull rope to pass through is arranged on the screw rod.

Images