Steering wheel and medical equipment

Abstract

The utility model relates to the technical field of medical instruments, and provides a steering wheel and medical equipment, and the steering wheel comprises a rotary driving part, a roller assembly and a limiting structure; the rotary driving part is configured to be connected with an equipment main body of the medical equipment; the rolling wheel assembly comprises a bogie and rolling wheels, the bogie is connected with the rotary driving piece, and the rolling wheels are rotatably arranged on the bogie; the limiting structure comprises a first limiting part and a second limiting part, the first limiting part is arranged on the bogie, the second limiting part is arranged on the rotary driving part, and the first limiting part and the second limiting part are matched to limit the rotating angle of the bogie. According to the steering wheel, the steering wheel can be limited to steer within a set safety range, and the requirement for safe walking of medical equipment is met.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a steering wheel and medical equipment. Background Technology

[0002] Currently, mobile medical devices typically do not have self-steering wheels. Instead, they have two omnidirectional wheels at the front and two drive wheels at the rear. The differential rotation of the two drive wheels forces the omnidirectional wheels to turn, allowing the device to adjust its direction of movement. However, this steering design is limited by the differential rotation of the two drive wheels, making it difficult to ensure the smoothness and safety of the device when turning. Furthermore, there is a certain degree of deflection when the device returns to center, making it difficult to ensure steering accuracy and affecting the safety and comfort of the device.

[0003] In practical applications, although some mobile devices are equipped with motorized casters, these casters are not used as steering wheels, but rather to ensure the mobile device's ability to move in different directions. Since medical devices are typically used to move patients, there are high requirements for the safety of their movement. Existing motorized casters cannot achieve safe steering within the necessary range to meet the application requirements of medical devices. Utility Model Content

[0004] This invention provides a steering wheel and a medical device to at least solve or improve the problem that existing electric swivel wheels cannot achieve steering within a safe range to meet the application requirements of medical devices.

[0005] This utility model provides a steering wheel, comprising:

[0006] A rotary drive component is configured to connect to the main body of the medical device.

[0007] A roller assembly includes a bogie and rollers, the bogie being connected to the rotary drive, and the rollers being rotatably mounted on the bogie;

[0008] The limiting structure includes a first limiting part and a second limiting part. The first limiting part is disposed on the bogie, and the second limiting part is disposed on the rotary drive member. The first limiting part and the second limiting part cooperate to limit the rotation angle of the bogie.

[0009] According to the present invention, a steering wheel is provided, wherein the rotary drive component includes: a connecting seat configured to be connected to the main body of the device;

[0010] The gearbox is located on the side of the connecting seat opposite to the main body of the equipment;

[0011] A drive motor is located on the upper side of the gearbox and connected to the input end of the gearbox. The roller assembly is located on the lower side of the gearbox, and the bogie corresponding to the roller assembly is connected to the output end of the gearbox.

[0012] According to the present invention, a steering wheel is provided in which the connecting seat and the gearbox are integrally formed, and a through hole is formed between the connecting seat and the gearbox for discharging rainwater collected on the top of the gearbox.

[0013] According to the present invention, a steering wheel is provided, the connecting seat comprising:

[0014] A load-bearing part is provided at the top of the connecting seat and is configured to support the lower side of the force-applying part of the main body of the equipment;

[0015] The locking port is used to connect the connecting seat to the main body of the device via a locking member that passes through the locking port.

[0016] According to the present invention, a steering wheel is provided, wherein the load-bearing part is a groove, the groove opening is arranged facing upward, and the groove is adapted to the force-applying part;

[0017] The bottom of the groove is at a height higher than the top wall of the gearbox.

[0018] According to the present invention, a steering wheel is provided, the gearbox comprising:

[0019] The housing has a receiving cavity and a first opening and a second opening communicating with the receiving cavity;

[0020] A gear set is disposed within the receiving cavity. The gear set includes a first gear and a second gear that mesh with each other. The output end of the drive motor passes through the first opening and is connected to the first gear.

[0021] The bogie includes a connecting shaft that passes through the second opening and is connected to the second gear.

[0022] According to the present invention, a steering wheel is provided, and the gearbox further includes:

[0023] The bearing assembly includes a radial bearing and an axial bearing, wherein the radial bearing and the axial bearing are respectively sleeved on the outside of the connecting shaft, and the radial bearing is disposed within the receiving cavity;

[0024] The bogie also includes a frame, which is connected to the connecting shaft. The rollers are rotatably disposed on the frame, and the axial bearing is located outside the receiving cavity and abuts against the frame and the housing.

[0025] According to the present invention, a steering wheel is provided, wherein the drive motor is a servo brake motor, and the servo brake motor is configured to stop rotating when power is lost.

[0026] According to the present invention, a steering wheel is provided, wherein the first limiting part includes a first protrusion, and the second limiting part includes a second protrusion and a third protrusion;

[0027] The rotary drive component is used to drive the bogie to rotate about the vertical axis, and the second protrusion, the first protrusion and the third protrusion are arranged in sequence around the vertical axis;

[0028] The first protrusion can rotate with the bogie to abut against the second or third protrusion.

[0029] According to the present invention, at least one of the second protrusion and the third protrusion is adjustablely disposed on the rotary drive member along the circumferential direction of the vertical axis.

[0030] This utility model also provides a medical device, including: a device body and a steering wheel as described above, wherein a rotation drive component corresponding to the steering wheel is connected to the device body.

[0031] The steering wheel and medical device provided by this utility model, by configuring a rotary drive, a roller assembly, and a limiting structure, can drive the roller assembly to rotate through the rotary drive to achieve flexible steering function of the steering wheel. Since the limiting structure includes a first limiting part and a second limiting part, the first limiting part is provided on the bogie of the roller assembly, and the second limiting part is provided on the rotary drive. During the process of the rotary drive driving the roller assembly to rotate, the mutual cooperation of the first limiting part and the second limiting part along the circumference of the rotary drive can limit the steering wheel to turn within a set safe range, thus meeting the safe walking requirements of the medical device. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is one of the structural schematic diagrams of the steering wheel provided by this utility model.

[0034] Figure 2 This is the second structural schematic diagram of the steering wheel provided by this utility model.

[0035] Figure 3 This is the third structural schematic diagram of the steering wheel provided by this utility model.

[0036] Figure 4 This utility model provides Figure 1 A schematic diagram of the explosion structure.

[0037] Figure 5 This is a structural schematic diagram of the roller assembly provided by this utility model.

[0038] Figure 6 This is an installation diagram of the roller assembly and bearing assembly provided by this utility model.

[0039] Figure 7 This is one of the connection diagrams of the connecting seat and gearbox provided by this utility model.

[0040] Figure 8 This is the second schematic diagram of the connection between the connector and the gearbox provided by this utility model.

[0041] Figure label:

[0042] 1. Rotary drive component; 101. Through hole; 11. Connecting seat; 111. Load-bearing part; 112. Locking port; 12. Gearbox; 121. Housing; 1211. Cover; 1212. Body; 122. Gear set; 1221. First gear; 1222. Second gear; 123. Bearing assembly; 1231. Radial bearing; 1232. Axial bearing; 13. Drive motor;

[0043] 2. Roller assembly; 21. Bogie; 211. Connecting shaft; 212. Frame; 22. Rollers;

[0044] 3. Limiting structure; 31. First limiting part; 32. Second limiting part. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0046] The following is combined with Figures 1-8 The present invention provides a detailed description of the steering wheel and medical device provided in the embodiments of the present invention through specific implementation methods and application scenarios.

[0047] In some embodiments, such as Figure 1 , Figure 2and Figure 4 As shown, this utility model embodiment provides a steering wheel, including: a rotation drive component 1, a roller assembly 2, and a limiting structure 3;

[0048] The rotary drive 1 is configured to connect to the main body of the medical device;

[0049] The roller assembly 2 includes a bogie 21 and rollers 22. The bogie 21 is connected to the rotary drive 1, and the rollers 22 are rotatably mounted on the bogie 21.

[0050] The limiting structure 3 includes a first limiting part 31 and a second limiting part 32. The first limiting part 31 is provided on the bogie 21, and the second limiting part 32 is provided on the rotary drive member 1. The first limiting part 31 and the second limiting part 32 cooperate to limit the angle of rotation of the bogie 21.

[0051] It is understood that the steering wheel in this embodiment is applied to medical devices such as exoskeleton robots and electric wheelchairs. The steering wheel is installed on the lower side of the corresponding main body of the medical device and is located near the front end of the main body. The medical device is also equipped with a drive wheel, which is set on the lower side of the main body and is located near the rear end of the main body. Thus, based on the cooperation of the steering wheel and the drive wheel, the medical device can move on the ground.

[0052] The rotary drive component 1 can be detachably connected to the main body of the equipment via a locking device. The rotary drive component 1 can be any of the following: an electric rotary component, a hydraulic rotary component, or a pneumatic rotary component, without specific limitations. The energy source for the rotation of the rotary drive component 1, such as a battery pack, a hydraulic oil source, or a gas cylinder, can be configured on the main body of the equipment.

[0053] The rotary drive 1 is disposed on the upper side of the roller assembly 2. The rotary drive 1 is connected to the bogie 21 of the roller assembly 2 to drive the bogie 21 to rotate the roller 22 around the vertical axis. The roller 22 is rotatably disposed at the lower end of the bogie 21 around the horizontal axis.

[0054] For the limiting structure 3, the first limiting part 31 and the second limiting part 32 are arranged circumferentially along the rotary drive member 1. When the rotary drive member 1 drives the roller assembly 2 to rotate within the set angle range, the first limiting part 31 and the second limiting part 32 separate from each other. When the roller assembly 2 is about to rotate to a position beyond the angle range, the first limiting part 31 and the second limiting part 32 abut against each other to prevent the rotary drive member 1 from driving the roller assembly 2 to rotate outside the set angle range.

[0055] For example, both the first limiting part 31 and the second limiting part 32 may be protruding, or the first limiting part 31 may be protruding and the second limiting part 32 may be an arc-shaped groove extending circumferentially along the rotary drive member 1, with the first limiting part 31 located within the arc-shaped groove.

[0056] As can be seen from the above, the steering wheel shown in this utility model, by configuring a rotary drive 1, a roller assembly 2, and a limiting structure 3, can drive the roller assembly 2 to rotate through the rotary drive 1, thereby realizing the flexible steering function of the steering wheel. Since the limiting structure 3 includes a first limiting part 31 and a second limiting part 32, the first limiting part 31 is provided on the bogie 21 of the roller assembly 2, and the second limiting part 32 is provided on the rotary drive 1, during the process of the rotary drive 1 driving the roller assembly 2 to rotate, the mutual cooperation of the first limiting part 31 and the second limiting part 32 along the circumference of the rotary drive 1 can limit the steering wheel to turn within a set safe range, thus meeting the safe walking requirements of medical equipment.

[0057] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the rotary drive component 1 includes: a connecting seat 11, a gearbox 12, and a drive motor 13;

[0058] The connecting seat 11 is configured to connect to the main body of the equipment. The gearbox 12 is located on the side of the connecting seat 11 away from the main body of the equipment. The drive motor 13 is located on the upper side of the gearbox 12 and is connected to the input end of the gearbox 12. The roller assembly 2 is located on the lower side of the gearbox 12. The bogie 21 corresponding to the roller assembly 2 is connected to the output end of the gearbox 12.

[0059] It is understandable that by setting the gearbox 12 on the side of the connecting seat 11 away from the main body of the equipment, the drive motor 13 and the roller assembly 2 can be arranged based on the gearbox 12. This design not only facilitates the connection of the connecting seat 11 to the main body of the equipment, but also reduces the space occupied, and realizes the integrated design of the steering wheel.

[0060] The output end of the drive motor 13 is arranged vertically. The end of the drive motor 13 facing the gearbox 12 is usually provided with a plurality of first locking holes. The gearbox 12 is provided with a plurality of second locking holes. The plurality of first locking holes and the plurality of second locking holes are arranged opposite to each other. The drive motor 13 can be installed on the gearbox 12 by means of locking bolts passing through the first locking holes and the second locking holes.

[0061] The gearbox 12 can be configured with a positioning groove, and the end of the drive motor 13 facing the gearbox 12 can be provided with a positioning protrusion. The positioning protrusion is configured to be embedded in the positioning groove, which can further ensure that the drive motor 13 is reliably installed on the gearbox 12.

[0062] In practical applications, the drive motor 13 drives the roller assembly 2 to rotate via the gearbox 12. The gearbox 12 can be equipped with at least two meshing gears to adjust the output speed of the drive motor 13, thereby achieving the purpose of adjusting the steering speed of the roller assembly 2. For example, the gearbox 12 can serve as a reduction gearbox to reduce the output speed of the drive motor 13.

[0063] In some embodiments, such as Figure 1 , Figure 7 and Figure 8 As shown, the connecting seat 11 and the gearbox 12 are an integral structure, and a through hole 101 is formed between the connecting seat 11 and the gearbox 12. The through hole 101 is used to drain the rainwater collected on the top of the gearbox 12.

[0064] It is understandable that the housing 121 of the connecting seat 11 and the gearbox 12 can be integrally formed by casting. This design eliminates the step of connecting the connecting seat 11 to the gearbox 12, which facilitates the on-site installation of the steering wheel.

[0065] Meanwhile, since the connecting seat 11 and the gearbox 12 are an integral structure, there is usually a structure between the connecting seat 11 and the gearbox 12 that can cause rainwater to collect. By providing a through hole 101 between the connecting seat 11 and the gearbox 12, the rainwater collected on the top of the gearbox 12 can be guided to drain, preventing rainwater from entering the gearbox 12. In addition, providing a through hole 101 can also reduce the weight of the structural component formed by the connecting seat 11 and the gearbox 12.

[0066] For example, the through hole 101 may extend vertically from the top of the gearbox 12 to the bottom of the gearbox 12.

[0067] For example, multiple through holes 101 can be provided, and multiple through holes 101 can be arranged side by side.

[0068] In some embodiments, such as Figure 8 As shown, the connecting seat 11 includes a load-bearing part 111 and a locking port 112; the load-bearing part 111 is located on the top of the connecting seat 11 and is configured to support the lower side of the force-applying part of the equipment body; the locking port 112 connects the connecting seat 11 to the equipment body through a locking member passing through the locking port 112.

[0069] It is understandable that the weight of the main body of the equipment is directly applied to the load-bearing part 111 of the connecting seat 11 through the force-applying part. The pressure borne by the connecting seat 11 is applied to the roller assembly 2 through the gearbox 12. This design ensures that the locking part is subjected to a small shear force and is mainly used to realize the connection between the connecting seat 11 and the main body of the equipment.

[0070] In some examples, the locking port 112 can be a through hole 101 formed on the connector 11, or the locking port 112 can be a notch formed around the connector 11, without specific limitation.

[0071] In some examples, multiple locking ports 112 can be provided, and multiple locking elements are provided accordingly, with multiple locking ports 112 and multiple locking elements being provided one-to-one.

[0072] The locking element extends horizontally to achieve a locking connection between the connecting seat 11 and the equipment body. The locking element can be a locking bolt, which is threadedly connected to the equipment body.

[0073] In some embodiments, such as Figure 8 As shown, the load-bearing part 111 is a groove with the groove opening facing upwards. The groove is adapted to the force-applying part, which can be the crossbeam at the bottom of the main body of the equipment. The height of the bottom of the groove is higher than the height of the top wall of the gearbox 12.

[0074] It is understandable that by setting a groove to fit the force-applying part, the force-applying part can be positioned based on the groove. The pressure from the force-applying part acts directly on the bottom of the groove and is transmitted to the connecting seat 11 through the bottom of the groove, ensuring that the relative position between the connecting seat 11 and the force-applying part does not change.

[0075] At the same time, by setting the bottom of the groove to be higher than the top wall of the gearbox 12, it can be ensured that at least part of the force-applying part can be placed on the upper side of the gearbox 12, thereby placing the steering wheel on the lower side of the main body of the equipment as much as possible.

[0076] In some embodiments, such as Figure 3 and Figure 4 As shown, the gearbox 12 includes: a housing 121 and a gear set 122; the housing 121 has a receiving cavity and a first opening and a second opening communicating with the receiving cavity; the gear set 122 is disposed in the receiving cavity, and the gear set 122 includes a meshing first gear 1221 and a second gear 1222; the output end of the drive motor 13 passes through the first opening and is connected to the first gear 1221; as shown Figure 5 As shown, the bogie 21 includes a connecting shaft 211, which passes through the second opening and is connected to the second gear 1222.

[0077] It is understandable that, since the drive motor 13 is located on the upper side of the gearbox 12 and the roller assembly 2 is located on the lower side of the gearbox 12, the first opening is located on the top of the housing 121 and the second opening is located on the bottom of the housing 121. A connecting seat 11 is provided on the side of the housing 121 facing the main body of the equipment.

[0078] For the gear set 122, both the first gear 1221 and the second gear 1222 can be configured to be horizontally arranged, that is, the central axis of the first gear 1221 and the central axis of the second gear 1222 are both vertically distributed. The gear ratio of the first gear 1221 and the second gear 1222 can be configured to be less than 1. Lubricating grease is provided between the first gear 1221 and the second gear 1222 to lubricate the meshing parts of the first gear 1221 and the second gear 1222, and also to reduce noise in the gear set 122.

[0079] Meanwhile, the output end of the drive motor 13 and the first gear 1221 can be coaxially connected, and the second gear 1222 and the connecting shaft 211 of the bogie 21 can be coaxially connected.

[0080] Furthermore, such as Figure 3 As shown, the connecting shaft 211 passes through the central hole of the second gear 1222 from bottom to top. A locking assembly is mounted on the top of the connecting shaft 211, and the locking assembly abuts against the top surface of the second gear 1222. The locking assembly may include an elastic washer and a locking bolt. The elastic washer is coaxially disposed on the top of the connecting shaft 211, and the periphery of the elastic washer contacts the top surface of the second gear 1222. The locking bolt passes through the elastic washer and is threadedly connected to the threaded hole on the connecting shaft 211.

[0081] Meanwhile, an inner bushing is provided between the peripheral wall of the connecting shaft 211 and the inner wall of the second gear 1222, and the peripheral wall of the connecting shaft 211 and the inner wall of the second gear 1222 are also connected by a key to ensure that the connecting shaft 211 and the second gear 1222 rotate synchronously.

[0082] In actual operation, the drive motor 13 drives the first gear 1221 to rotate, the first gear 1221 drives the second gear 1222, and the first gear 1221 then drives the bogie 21 to rotate through the connecting shaft 211, thereby realizing the steering of the steering wheel.

[0083] In some embodiments, in order to further reduce the noise of the gear set 122 during operation, at least one of the first gear 1221 and the second gear 1222 is a non-metallic gear.

[0084] It is understandable that non-metallic gears are gears made of non-metallic materials. For example, non-metallic gears can be plastic gears made of plastic materials such as polyoxymethylene, polyimide, and nylon, rubber gears made of rubber materials, or gears made of composite materials such as epoxy glass sheets and fabric-reinforced phenolic resin.

[0085] In practical applications, one of the first gear 1221 and the second gear 1222 can be a metal gear, and the other of the first gear 1221 and the second gear 1222 can be a non-metal gear, or both the first gear 1221 and the second gear 1222 can be non-metal gears.

[0086] In some embodiments, such as Figure 3 , Figure 4 and Figure 6 As shown, the gearbox 12 also includes a bearing assembly 123, which includes a radial bearing 1231 and an axial bearing 1232. The radial bearing 1231 and the axial bearing 1232 are respectively sleeved on the outside of the connecting shaft 211, and the radial bearing 1231 is disposed in the receiving cavity.

[0087] like Figure 5 and Figure 6 As shown, the bogie 21 also includes a frame 212, which is connected to a connecting shaft 211. Rollers 22 are rotatably mounted on the frame 212. An axial bearing 1232 is located outside the receiving cavity and abuts against the frame 212 and the housing 121.

[0088] Understandably, the radial bearing 1231 is used to withstand radial loads perpendicular to the axial direction of the connecting shaft 211. For example, the radial bearing 1231 is used to provide a radial mounting support between the connecting shaft 211 and the housing 121 of the gearbox 12, ensuring that the connecting shaft 211 rotates stably and reliably relative to the gearbox 12 about the vertical axis.

[0089] Among them, the radial bearing 1231 can be a deep groove ball bearing or a cylindrical roller bearing.

[0090] Meanwhile, the axial bearing 1232 is used to bear axial loads parallel to the axis of the connecting shaft 211. For example, the axial bearing 1232 is used to transfer the load on the gearbox 12 to the frame 212 of the bogie 21, ensuring the stability and reliability of the rotation of the bogie 21 relative to the gearbox 12.

[0091] Among them, the axial bearing 1232 can be a flat thrust ball bearing or a flat thrust roller bearing.

[0092] In some examples, such as Figure 4 and Figure 5 As shown, the frame 212 includes a first side plate, a top plate, and a second side plate; both the first and second side plates extend vertically, are spaced apart from each other, and are arranged side by side; the top plate extends horizontally, one end of the top plate is connected to the top of the first side plate, and the other end is connected to the top of the second side plate; the connecting shaft 211 extends vertically and is connected to the middle of the top plate; and the roller 22 is rotatably disposed between the first and second side plates via a pin.

[0093] In some embodiments, the drive motor 13 is a servo brake motor, which is configured to stop rotating when power is lost.

[0094] Understandably, the drive motor 13 includes a frame, a motor assembly, and an electromagnetic brake. The motor assembly is housed within the frame and includes a stator and a rotor. The rotor is rotatably disposed inside the stator. The electromagnetic brake is connected to the frame and is disposed opposite to the tail end of the rotor. The head end of the rotor is used to achieve power output.

[0095] The motor assembly and electromagnetic brake are respectively configured to be electrically connected to the controller, which controls the current input from the power supply to the stator of the motor assembly to control the rotation state of the rotor, so as to ensure that the steering wheel can perform normal steering function.

[0096] When the power supply equipment stops supplying power to the stator, the controller will control the electromagnetic brake to operate. The electromagnetic brake will engage with the circumferential wall of the rotor to prevent the rotor from continuing to rotate, thereby ensuring that the steering wheel maintains the steering posture before the power failure and preventing the steering wheel from turning abnormally when the power is off.

[0097] In some embodiments, such as Figure 5 and Figure 7 As shown, the first limiting part 31 includes a first protrusion, and the second limiting part 32 includes a second protrusion and a third protrusion;

[0098] The rotary drive 1 is used to drive the bogie 21 to rotate around the vertical axis. The second protrusion, the first protrusion and the third protrusion are arranged in sequence around the vertical axis. The first protrusion can rotate with the bogie 21 to abut against the second protrusion or the third protrusion.

[0099] It is understood that, in the case where the bogie 21 includes a frame 212 and a connecting shaft 211, the first protrusion is provided on the frame 212 and is located on one side of the connecting shaft 211.

[0100] Meanwhile, the second protrusion and the third protrusion are disposed at the bottom of the housing 121 and are arranged circumferentially along the second opening at the bottom of the housing 121; wherein, along the circumferential direction of the second opening, the first protrusion is located between the second protrusion and the third protrusion.

[0101] In practical applications, when the bogie 21 rotates clockwise to its first limit position, the first protrusion abuts against the second protrusion, at which point the bogie 21 cannot continue rotating clockwise. When the bogie 21 rotates counterclockwise to its second limit position, the first protrusion abuts against the third protrusion, at which point the bogie 21 cannot continue rotating counterclockwise. Therefore, the rotation range of the bogie 21 is limited by the engagement of the first protrusion with the second or third protrusion.

[0102] In some embodiments, at least one of the second protrusion and the third protrusion is circumferentially adjustable on the rotary drive 1 along the vertical axis.

[0103] It is understood that at least one of the second and third protrusions can be adjustablely disposed at the bottom of the housing 121 along the circumference of the second opening to ensure that the central angle of the second and third protrusions relative to the vertical axis is adjustable, thereby facilitating the adjustment of the rotation range of the bogie 21 according to actual needs.

[0104] In practical applications, multiple mounting holes can be provided at the bottom of the housing 121 along the circumference of the second opening. According to actual needs, the second protrusion and the third protrusion can be installed in two of the multiple mounting holes to adjust the installation position of the second protrusion and the third protrusion.

[0105] In some embodiments, the central angles of the second and third protrusions relative to the vertical axis are 60° to 120°.

[0106] It is understandable that by limiting the central angles of the second and third protrusions relative to the vertical axis, the range of rotation angles of the steering wheel when it turns can be limited according to the cooperation of the first protrusion with the second or third protrusion.

[0107] The central angles of the second and third protrusions relative to the vertical axis can be 60°, 75°, 90°, 110°, 120°, or other suitable angles, without specific limitations.

[0108] In some embodiments, the present invention also provides a medical device, including: a device body and a steering wheel as described above, wherein a rotation drive 1 corresponding to the steering wheel is connected to the device body.

[0109] Understandably, the medical device can be an exoskeleton robot or an electric wheelchair. The medical device can be equipped with two steering wheels and two drive wheels. Both steering wheels and two drive wheels are installed at the bottom of the main body of the device. The two steering wheels are arranged side by side on the front side of the main body of the device, and the two drive wheels are arranged side by side on the rear side of the main body of the device.

[0110] In practical applications, when controlling the steering of medical equipment, the steering angle of the outermost steering wheel can be controlled simultaneously with the steering angle of the innermost steering wheel, based on the Ackermann steering principle. This ensures that the medical equipment can steer smoothly without dragging during operation, thus ensuring both the efficiency of the medical equipment and the comfort of the medical equipment when carrying people.

[0111] Meanwhile, when the medical equipment moves at higher speeds, the fact that the steering centers of the two steering wheels and the two drive wheels are the same ensures the stability of the equipment's steering and the safety of carrying passengers. Because the drive motor controls the steering position of the steering wheels during the rapid return to center during a turn, the yaw phenomenon generated during the turn can be minimized, without affecting the comfort and safety of the medical equipment's operation.

[0112] Of course, the medical device can also be configured with one steering wheel and two drive wheels. Both the steering wheel and the two drive wheels are mounted on the bottom of the device body, with the steering wheel located at the front of the device body in the middle area, and the two drive wheels arranged side-by-side at the rear. In this case, when controlling the steering of the medical device, only the rotation angle of one steering wheel needs to be controlled to match the corresponding turning radius.

[0113] Since the medical device includes a steering wheel, and the specific structure of the steering wheel is as described in the above embodiments, the medical device in this embodiment includes all the technical solutions of the above embodiments. Therefore, it has at least all the beneficial effects achieved by all the technical solutions of the above embodiments, which will not be elaborated further.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A steering wheel, characterized in that, include: A rotary drive component is configured to connect to the main body of the medical device. A roller assembly includes a bogie and rollers, the bogie being connected to the rotary drive, and the rollers being rotatably mounted on the bogie; The limiting structure includes a first limiting part and a second limiting part. The first limiting part is disposed on the bogie, and the second limiting part is disposed on the rotary drive member. The first limiting part and the second limiting part cooperate to limit the rotation angle of the bogie.

2. The steering wheel according to claim 1, characterized in that, The rotary drive component includes: a connecting seat configured to connect to the main body of the device; The gearbox is located on the side of the connecting seat opposite to the main body of the equipment; A drive motor is located on the upper side of the gearbox and connected to the input end of the gearbox. The roller assembly is located on the lower side of the gearbox, and the bogie corresponding to the roller assembly is connected to the output end of the gearbox.

3. The steering wheel according to claim 2, characterized in that, The connecting seat and the gearbox are an integral structure, and a through hole is formed between the connecting seat and the gearbox for draining rainwater collected on the top of the gearbox.

4. The steering wheel according to claim 2, characterized in that, The connector includes: A load-bearing part is provided at the top of the connecting seat and is configured to support the lower side of the force-applying part of the main body of the equipment; The locking port is used to connect the connecting seat to the main body of the device via a locking member that passes through the locking port.

5. The steering wheel according to claim 4, characterized in that, The load-bearing part is a groove with the groove opening facing upwards, and the groove is adapted to the force-applying part; The bottom of the groove is at a height higher than the top wall of the gearbox.

6. The steering wheel according to claim 2, characterized in that, The gearbox includes: The housing has a receiving cavity and a first opening and a second opening communicating with the receiving cavity; A gear set is disposed within the receiving cavity. The gear set includes a first gear and a second gear that mesh with each other. The output end of the drive motor passes through the first opening and is connected to the first gear. The bogie includes a connecting shaft that passes through the second opening and is connected to the second gear.

7. The steering wheel according to claim 6, characterized in that, The gearbox also includes: The bearing assembly includes a radial bearing and an axial bearing, wherein the radial bearing and the axial bearing are respectively sleeved on the outside of the connecting shaft, and the radial bearing is disposed within the receiving cavity; The bogie also includes a frame, which is connected to the connecting shaft. The rollers are rotatably disposed on the frame, and the axial bearing is located outside the receiving cavity and abuts against the frame and the housing.

8. The steering wheel according to claim 2, characterized in that, The drive motor is a servo brake motor, which is configured to stop rotating when power is lost.

9. The steering wheel according to any one of claims 1 to 8, characterized in that, The first limiting portion includes a first protrusion, and the second limiting portion includes a second protrusion and a third protrusion; The rotary drive component is used to drive the bogie to rotate about the vertical axis, and the second protrusion, the first protrusion and the third protrusion are arranged in sequence around the vertical axis; The first protrusion can rotate with the bogie to abut against the second or third protrusion.

10. The steering wheel according to claim 9, characterized in that, At least one of the second protrusion and the third protrusion is adjustablely disposed on the rotary drive member circumferentially along the vertical axis.

11. A medical device, characterized in that, include: The equipment body and the steering wheel as described in any one of claims 1 to 10, wherein the rotation drive corresponding to the steering wheel is connected to the equipment body.

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