Steering mechanism of intelligent wheelchair

Abstract

The utility model discloses a steering mechanism of an intelligent wheelchair. Comprising a positioning base plate, steering knuckles are movably installed at the two ends of the positioning base plate, and wheels are movably installed on the steering knuckles; driving rods are fixedly arranged on the two sides of the steering knuckle correspondingly, a crank rod is movably connected between the two driving rods located on the same side, a servo motor is installed in the middle of the positioning base plate, a rotating plate is fixedly connected to the bottom end of an output shaft of the servo motor, sleeves are fixedly connected to the middles of the two crank rods correspondingly, and the rotating plate is fixedly connected to the bottom end of an output shaft of the servo motor. The bottom of the sleeve is movably connected with the rotating plate; according to the steering mechanism, the rotating plate is driven by the servo motor to rotate, linkage control over the crank rods on the two sides is achieved, bilateral steering adjustment is achieved, and therefore when the crank rod on one side of the steering mechanism is damaged, the crank rod on the other side of the steering mechanism can still achieve safe steering operation.

Description

Technical Field

[0001] This utility model belongs to the field of wheelchair technology, and in particular relates to a steering mechanism for an intelligent wheelchair. Background Technology

[0002] With societal development, people with disabilities increasingly need to utilize modern high technology to improve their quality of life and freedom of movement. Research on intelligent wheelchairs to assist people with disabilities has gradually become a hot topic.

[0003] The intelligent wheelchair mainly has functions such as command recognition and voice synthesis, robot self-localization, dynamic random obstacle avoidance, multi-sensor information fusion, and real-time adaptive navigation control.

[0004] The key technology for intelligent wheelchairs is safe navigation, which primarily relies on ultrasonic and infrared ranging, with some also employing voice control. The main drawback of ultrasonic and infrared navigation is its limited controllable range, a limitation that visual navigation can overcome. In intelligent wheelchairs, the user should be the central and active component of the entire system. For the user, the intelligent wheelchair should have interactive capabilities. This interaction can be intuitively achieved through human-machine voice dialogue.

[0005] When using smart wheelchairs, it is necessary to maintain their stable operation and improve safety, especially when the smart wheelchair is turning, which requires more precise control to improve the user's life safety.

[0006] However, existing technologies have some problems: existing intelligent wheelchair steering mechanisms generally use single-wheel control or single-sided linkage control. However, when steering, single-wheel control is prone to steering angle deviation, or one wheel turns while the other wheel does not, or control time deviation. On the other hand, single-sided linkage control is prone to failure to achieve steering control when damaged, which endangers the user's life safety. Therefore, we propose a steering mechanism for intelligent wheelchairs. Utility Model Content

[0007] To address the problems existing in the prior art, the purpose of this utility model is to provide a steering mechanism for an intelligent wheelchair. By using a servo motor to drive the rotating plate to rotate, the cranks on both sides can be linked for control, enabling bilateral steering adjustment. This ensures that even if one crank is damaged, the other crank can still achieve safe steering operation.

[0008] This utility model is implemented as follows: a steering mechanism for an intelligent wheelchair includes a positioning base plate, with steering knuckles movably mounted at both ends of the positioning base plate, and wheels movably mounted on the steering knuckles.

[0009] Drive rods are fixedly provided on both sides of the steering knuckle, and a crank rod is movably connected between the two drive rods on the same side. A servo motor is installed in the middle of the positioning base plate, and a rotating plate is fixedly connected to the bottom end of the output shaft of the servo motor. A sleeve is fixedly connected to the middle of the two crank rods, and the bottom of the sleeve is movably connected to the rotating plate.

[0010] Specifically, the positioning base plate is fixedly provided with a first connecting frame at both ends, and the steering knuckle is movably connected to the inside of the first connecting frame through a first pin.

[0011] Specifically, one end of the steering knuckle is fixedly provided with a mounting shaft, the wheel is movably mounted on the mounting shaft, and the end of the mounting shaft is threaded with an anti-loosening nut.

[0012] Specifically, each end of the two cranks is fixedly provided with a second connecting frame, and one end of the drive rod is movably connected to the inside of the second connecting frame through a second pin.

[0013] Specifically, a pad is fixedly provided at the bottom of the sleeve, a positioning shaft is fixedly provided at the lower middle of the pad, and long grooves are provided at both ends of the rotating plate, with the positioning shaft movably connected inside the long grooves.

[0014] Specifically, the output shaft passes through the center of the positioning base plate, the rotating plate is located at the lower part of the positioning base plate, and mounting brackets are fixedly installed on both sides of the upper part of the positioning base plate by fixing bolts.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] In use, this utility model uses a single servo motor to rotate the rotating plate, which in turn drives the cranks on both sides, allowing the cranks at both ends to move in opposite directions. The rotating plate has long grooves that can eliminate the torsional force on the cranks during rotation, maintaining the stability of the cranks. Furthermore, the two ends of the cranks are driven by drive rods to push the steering knuckles. That is, when the cranks on both sides move, the drive rods can drive the steering knuckles to rotate, thereby adjusting the steering of the wheels.

[0017] Furthermore, the synchronous operation of the cranks on both sides allows for precise control of wheel steering. Even if one crank is damaged, the other crank can still be used to adjust the steering of the smart wheelchair, improving user safety.

[0018] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a top view of the structure provided by this utility model;

[0020] Figure 2 This is a schematic diagram of the structure from below provided by this utility model;

[0021] Figure 3 This is a partial top view of the structure provided by this utility model;

[0022] Figure 4 This is a partial bottom view of the structure provided by this utility model.

[0023] In the diagram: 1. Positioning base plate; 2. Steering knuckle; 3. Wheel; 4. Drive rod; 5. Crank rod; 6. Servo motor; 7. Output shaft; 8. Rotating plate; 9. Long slot; 10. Sleeve; 11. Pad; 12. Positioning shaft; 13. First connecting frame; 14. Mounting shaft; 15. First pin; 16. Second connecting frame; 17. Second pin; 18. Anti-loosening nut; 19. Mounting bracket. Detailed Implementation

[0024] To further understand the utility model content, features and effects of this utility model, the following embodiments are provided, and detailed descriptions are given in conjunction with the accompanying drawings.

[0025] like Figures 1 to 4 As shown in the figure, the present invention provides a steering mechanism for an intelligent wheelchair, including a positioning base plate 1, with steering knuckles 2 movably mounted at both ends of the positioning base plate 1, and wheels 3 movably mounted on the steering knuckles 2.

[0026] Drive rods 4 are fixedly provided on both sides of the steering knuckle 2. A crank rod 5 is movably connected between the two drive rods 4 on the same side. A servo motor 6 is installed in the middle of the positioning base plate 1. A rotating plate 8 is fixedly connected to the bottom end of the output shaft 7 of the servo motor 6. A sleeve 10 is fixedly connected to the middle of the two crank rods 5. The bottom of the sleeve 10 is movably connected to the rotating plate 8.

[0027] In this embodiment, preferably, the two ends of the positioning base plate 1 are respectively fixed with a first connecting frame 13, and the steering knuckle 2 is movably connected to the inside of the first connecting frame 13 through a first pin 15;

[0028] It should be noted that the first connecting frame 13 facilitates the installation of the steering knuckle 2, and the first pin 15 facilitates the rotation of the steering knuckle 2 within the first connecting frame 13, making it easy to adjust the direction of rotation.

[0029] In this embodiment, preferably, one end of the steering knuckle 2 is fixedly provided with a mounting shaft 14, the wheel 3 is movably mounted on the mounting shaft 14, and the end of the mounting shaft 14 is threadedly connected with an anti-loosening nut 18;

[0030] It should be noted that the mounting shaft 14 is designed to install the wheel 3, and the anti-loosening nut 18 is designed to maintain the stability of the wheel 3 installation and prevent it from falling off when the smart wheelchair moves.

[0031] In this embodiment, preferably, the two ends of the two cranks 5 are respectively fixed with a second connecting frame 16, and one end of the drive rod 4 is movably connected to the inside of the second connecting frame 16 through a second pin 17;

[0032] It should be noted that the second connecting frame 16 is set to connect the drive rod 4, and the second pin 17 is set to facilitate the rotational adjustment between the crank rod 5 and the drive rod 4, thereby improving mobility.

[0033] In this embodiment, preferably, a pad 11 is fixedly provided at the lower part of the sleeve 10, a positioning shaft 12 is fixedly provided at the middle of the lower part of the pad 11, and long grooves 9 are provided at both ends of the rotating plate 8, with the positioning shaft 12 movably connected inside the long grooves 9.

[0034] It should be noted that the pad 11 facilitates the connection between the positioning shaft 12 and the sleeve 10, and also facilitates the increase in height and connection with the rotating plate 8. Furthermore, the opening of the long groove 9 facilitates the position adjustment of the positioning shaft 12, eliminating the dimensional impact of the reduced distance between the two cranks 5 when they move left and right.

[0035] In this embodiment, preferably, the output shaft 7 passes through the center of the positioning base plate 1, the rotating plate 8 is located at the lower part of the positioning base plate 1, and the upper two sides of the positioning base plate 1 are fixedly installed with mounting brackets 19 by fixing bolts.

[0036] It should be noted that the rotating plate 8 is located at the lower part of the positioning base plate 1, which facilitates the connection of the crank rods 5 on both sides and the installation of the servo motor 6. The mounting bracket 19 is designed to facilitate the installation and connection of the steering mechanism with the smart wheelchair. Furthermore, the height of the servo motor 6 is less than the height of the mounting bracket 19, which can provide safety protection for the servo motor 6.

[0037] The specific operational procedures for this application are as follows:

[0038] In use, the steering mechanism is connected to the base of the smart wheelchair via the mounting bracket 19, and the servo motor 6 is electrically connected to the control system and battery pack of the smart wheelchair to realize the transmission of control signals and power.

[0039] When steering is required, the intelligent wheelchair's control system sends a steering signal. At this time, the servo motor 6 rotates according to the steering signal, that is, the servo motor 6 drives the rotating plate 8 to rotate, so that the rotating plate 8 can drive the cranks 5 on both sides to move left and right. That is, if one crank 5 moves to the right, the corresponding crank 5 on the other side moves to the left. At the same time, the cranks 5 drive the steering knuckles 2 at both ends to rotate, thereby realizing the directional adjustment control of the wheels 3. After the steering adjustment control, the servo motor 6 resets the wheel. Furthermore, if one crank 5 fails and breaks during use, the other crank 5 can still achieve steering control adjustment.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A steering mechanism of an intelligent wheelchair, comprising a positioning base plate (1), characterized in that: The positioning base plate (1) is movably mounted with steering knuckles (2) at both ends, and wheels (3) are movably mounted on the steering knuckles (2); Driving rods (4) are fixedly arranged at both sides of the steering knuckle (2), and crank rods (5) are movably connected between two driving rods (4) at the same side, a servo motor (6) is mounted in the middle of the positioning base plate (1), a rotating plate (8) is fixedly connected to the bottom end of the output shaft (7) of the servo motor (6), sleeves (10) are fixedly connected to the middle of two crank rods (5), and the bottom of the sleeve (10) is movably connected with the rotating plate (8).

2. The steering mechanism of claim 1, wherein: First connecting frames (13) are fixedly arranged at both ends of the positioning base plate (1), and the steering knuckle (2) is movably connected in the inside of the first connecting frame (13) through a first pin shaft (15).

3. The steering mechanism of claim 1, wherein: An installation shaft (14) is fixedly arranged at one end of the steering knuckle (2), the wheel (3) is movably mounted on the installation shaft (14), and an anti-loosening nut (18) is threadedly connected to the end of the installation shaft (14).

4. The steering mechanism of claim 1, wherein: Second connecting frames (16) are fixedly arranged at both ends of the two crank rods (5), and one end of the driving rod (4) is movably connected in the inside of the second connecting frame (16) through a second pin shaft (17).

5. The steering mechanism of claim 1, wherein: A cushion block (11) is fixedly arranged at the lower part of the sleeve (10), a positioning shaft (12) is fixedly arranged at the lower middle of the cushion block (11), long grooves (9) are arranged at both ends of the rotating plate (8), and the positioning shaft (12) is movably connected in the inside of the long groove (9).

6. The steering mechanism of claim 1, wherein: The output shaft (7) penetrates the center of the positioning base plate (1), the rotating plate (8) is arranged at the lower part of the positioning base plate (1), and mounting brackets (19) are fixedly mounted on both sides of the upper part of the positioning base plate (1) through fixing bolts.

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