Arrangement for the automatic balancing of an electric wheelchair
The automatic balancing system in electric wheelchairs addresses stability and comfort issues by using a gyroscope and speed sensor to adjust wheel arrangements, ensuring horizontal seating and lowering the seat at high speeds, thereby enhancing safety and comfort.
Patent Information
- Application Number
- DE202025101618
- Authority / Receiving Office
- DE · DE
- Patent Type
- Utility models
- Current Assignee / Owner
- Filing Date
- 2025-03-25
- Publication Date
- 2025-05-08
- Estimated Expiration
- 2035-03-31
AI Technical Summary
Electric wheelchairs with engines face stability issues during uphill and downhill driving, leading to potential tipping and reduced comfort due to passenger leaning, which is not automatically addressed by existing technologies.
An arrangement for automatic balancing in electric wheelchairs, utilizing a gyroscope and speed sensor to adjust the rear and front wheel arrangements via telescopic devices and actuators, maintaining horizontal seating and lowering the seat at higher speeds to prevent tipping.
Enhances driving safety and comfort by automatically adjusting to terrain angles and speeds, preventing excessive passenger leaning and maintaining balance, thus reducing the risk of overturning.
Smart Images
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Abstract
Description
Technical area
[0001] The invention relates to an arrangement for automatically balancing an electric wheelchair, in particular an electric wheelchair that offers greater seating comfort and more safety. State of the art
[0002] Wheelchairs can serve as a means of transportation for injured, sick, paralyzed, elderly, and other people with physical disabilities and limited mobility. They can also be pushed by caregivers (such as family members, long-term caregivers, or medical personnel) to access outdoor areas. However, because wheelchairs must be pushed by people, their use requires considerable physical effort and the wheelchairs cannot be moved quickly. With this in mind, a power wheelchair has been developed that is equipped with a motor and a manual control lever.
[0003] Because the power wheelchair reaches high speeds, there's a risk that the center of gravity of the power wheelchair will be too high, causing the power wheelchair to tip over if there's no way to immediately detect this and automatically adjust the height while driving. When driving uphill or downhill, the passenger's limbs may exert less force to support the power wheelchair, and the passenger may lean excessively forward or backward while driving downhill or uphill, compromising ride comfort and safety. Object of the invention
[0004] The invention is based on the object of creating an arrangement for the automatic balancing of an electric wheelchair, with which arrangement the electric wheelchair can be automatically raised, lowered and aligned horizontally, so that the safety and driving comfort are significantly improved. Technical solution
[0005] This object is achieved according to the invention by an arrangement for automatically balancing an electric wheelchair having the features of claim 1. Advantageous embodiments are the subject of the dependent claims.
[0006] The invention provides an assembly for automatically balancing a power wheelchair, which assembly comprises a power wheelchair. The power wheelchair includes a seat assembly, a rear wheel assembly, and a front wheel assembly.
[0007] The electric wheelchair is equipped with two drive units that provide power to the electric wheelchair while driving. The seat assembly includes a chair frame equipped with two armrests, a user interface, a seat cushion, a backrest, a battery, and a main control unit. The main control unit is connected to a gyroscope and a speed sensor. It measures the ground angle using the gyroscope and then transmits the measured value to the main control unit. The main control unit can adjust the rear wheel assembly according to different ground angles using telescopic adjustment. The battery supplies power to the main control unit, the rear wheel assembly, the front wheel assembly, and the drive units, ensuring the smooth operation of the main control unit, the rear wheel assembly, the front wheel assembly, and the drive units.The rear wheel assembly comprises two sets of support tubes installed on either side of the back of the chair frame and extending diagonally downward. Each support tube set comprises an outer tube and an inner tube, with the outer and inner tubes nested within each other and connected by a telescopic device. The movement of the telescopic device allows the inner tube to telescopically slide coaxially within the outer tube. A rear wheel is rotatably mounted at the distal end of each support tube set.The front wheel assembly has two actuators and two front wheel frames, wherein the two actuators are each mounted on either side of the front region of the lower surface of the seat frame, and the respective front wheel frame has a main body portion and an extension portion, wherein the main body portion is arranged horizontally and is inserted through the actuator so that the main body portion can be driven by the actuator and thereby move horizontally. The extension portion extends obliquely downward from one end of the main body portion such that the extension portion and the support tube set together form a spread. A front wheel is rotatably mounted at the distal end of the extension portion of the respective front wheel frame. Thus, an arrangement for automatically balancing an electric wheelchair can be formed.
[0008] The inventive automatic balancing system for an electric wheelchair is characterized by the following: The electric wheelchair can adjust the angle of the human body after seating through the rear wheel assembly, preventing the passenger from excessively leaning forward or backward during downhill or uphill travel, thereby increasing riding comfort. Furthermore, the inventive automatic balancing system for an electric wheelchair can automatically lower the center of gravity of the seat assembly through the front wheel assembly when the electric wheelchair travels at higher speeds, allowing the electric wheelchair to be closer to the ground to prevent the electric wheelchair from tipping over at higher speeds, thereby doubling the safety of use. Short description of the drawings Fig. 1 shows a planar view of an arrangement according to the invention for automatically balancing an electric wheelchair. Fig. 2 shows a schematic representation of the arrangement according to the invention when driving uphill. Fig. 3 shows a schematic representation of the arrangement according to the invention during downhill driving. Fig. 4 shows a schematic representation to illustrate the extension of the front wheel frame in the arrangement according to the invention. Detailed description of a preferred embodiment
[0009] Objects, features, and advantages of the present invention will be explained in more detail below with reference to the detailed description of an embodiment and the accompanying drawings. However, the invention is not limited to the description of this embodiment and its illustration in the accompanying drawings.
[0010] As in Fig. 1, the invention relates to an arrangement for automatically balancing a power wheelchair, which arrangement comprises a power wheelchair. The power wheelchair comprises a seat assembly 10, a rear wheel assembly 20, and a front wheel assembly 30. The power wheelchair is equipped with two drive units 40 that supply the power wheelchair with driving power while driving. The seat assembly 10 has a chair frame 11 equipped with two armrests 12, a user interface 13, a seat cushion 14, a backrest 15, a battery 16, and a main control unit 17. The main control unit 17 is connected to a gyroscope 171 and a speed sensor 172, measures the ground angle with the gyroscope 171, and then transmits the measured result to the main control unit 17.The main control unit 17 can adjust the rear wheel assembly 20 according to different ground angles using the telescopic adjustment, and the battery 16 supplies power to the main control unit 17, the rear wheel assembly 20, the front wheel assembly 30, and the drive units 40, so that the main control unit 17, the rear wheel assembly 20, the front wheel assembly 30, and the drive units 40 can all function smoothly. The rear wheel assembly 20 has two support tube sets 21 installed on both sides of the rear of the chair frame 11 and extending obliquely downward. Each support tube set 21 has an outer tube 211 and an inner tube 212, wherein the outer tube 211 and the inner tube 212 are inserted into each other and connected to each other by a telescopic device 213. The movement of the telescopic device 213 enables the inner tube 212 to move coaxially telescopically within the outer tube 211.A rear wheel 22 is rotatably mounted at the respective distal end of the respective support tube set 21. The front wheel assembly 30 has two actuators 31 and two front wheel frames 32, wherein the two actuators 31 are each mounted on either side of the front region of the lower surface of the seat frame 11, and the respective front wheel frame 32 has a main body portion 321 and an extension portion 322, wherein the main body portion 321 is arranged horizontally and is inserted through the actuator 31 so that the main body portion 321 can be driven by the actuator 31 and can thereby move horizontally. The extension portion 322 extends obliquely downward from one end of the main body portion 321 so that the extension portion 322 and the support tube set 21 together form a spread. A front wheel 33 is rotatably mounted at the distal end of the extension portion 322 of the respective front wheel frame 32.
[0011] According to the invention, the electric wheelchair is foldable.
[0012] According to the invention, a platform 111 is arranged on the chair frame 11, on which the battery 16 and the main control unit 17 can be firmly mounted.
[0013] According to the invention, the chair frame 11 is equipped with a handle 112 with which the electric wheelchair can be pushed manually.
[0014] According to the invention, the chair frame 11 is equipped with a pedal (not shown) so that the accompanying caregiver can stand on the pedal and be transported by the electric wheelchair.
[0015] According to the invention, the user interface 13 is used to provide the passenger with control options so that the electric wheelchair can move forward, backward or in a turn by control via the user interface 13, wherein the user interface 13 is a joystick control interface, a button control interface or a control panel control interface.
[0016] According to the invention, a pressure film 141 is provided inside the seat cushion 14, which can be used to determine whether a passenger is sitting on the seat cushion 14. Once the passenger has taken a seat on the seat cushion 14, the pressure film 141 is used to activate the main control unit 17.
[0017] According to the invention, the gyroscope 171 and the speed sensor 172 are arranged directly on the main control unit 17.
[0018] According to the invention, the support tube set 21 is an electric cylinder.
[0019] According to the invention, the actuator 31 is a servo motor equipped with a gear (not shown), wherein a toothing (not shown) is arranged on the main body portion 321 of the front wheel frame 32. Because the toothing and the gear mesh with each other, the front wheel frame 32 can be easily driven by the actuator 31 and thus caused to move translationally.
[0020] According to the invention, the front wheel 33 is larger than the rear wheel 22.
[0021] According to the invention, the front wheel 33 has a wheel diameter of 16 inches.
[0022] According to the invention, the two drive units 40 are two hub motors, each mounted on the two front wheels 33.
[0023] When the electric wheelchair travels uphill, the gyroscope 171 is used to measure the angle of the road. Furthermore, the main control unit 17 causes the inner tube 212 to extend from the outer tube 211 via the telescopic device 213 (see also Fig. 2) so that the seat cushion 14 is maintained horizontally to prevent excessive leaning of the passenger backward. Conversely, when the electric wheelchair travels downhill, the gyroscope 171 is used to measure the angle of the road. Furthermore, the main control unit 17, via the telescopic device 213, causes the inner tube 212 to retract significantly into the outer tube 211 (see also Fig. 3) so that the seat cushion 14 can also be maintained horizontally to prevent the passenger from leaning excessively forward.
[0024] Further reference is made to Fig.4. When the speed sensor 172 determines that the power wheelchair is traveling at this speed (the system-set speed is 10 km / h), the main control unit 17, via the actuators 31, causes the front wheel frames 32 to shift forward and extend, increasing the distance between the front wheel 33 and the rear wheel 22. This automatically lowers the seat assembly 10. By designing to lower the center of gravity, the power wheelchair can maintain balance and stability even at high speeds, doubling its safety of use.
[0025] The inventive automatic balancing system for an electric wheelchair is characterized by the following: The electric wheelchair can adjust the angle of the human body after seating through the rear wheel assembly 20, preventing the passenger from excessively leaning forward or backward during downhill or uphill travel, thereby increasing ride comfort. Furthermore, the inventive automatic balancing system for an electric wheelchair can automatically lower the center of gravity of the seat assembly 10 through the front wheel assembly 30 when the electric wheelchair is traveling at higher speeds, allowing the electric wheelchair to be closer to the ground to prevent the electric wheelchair from tipping over at higher speeds, thereby doubling the safety of use.
[0026] Although the present invention has been described in detail using an exemplary embodiment, it will be understood by those skilled in the art that the invention is not limited to this exemplary embodiment. Rather, modifications are possible such that individual features can be omitted or different combinations of features can be implemented without exceeding the scope of the appended claims. The disclosure of the present invention includes all combinations of the individual features presented. List of reference symbols 10 Seating arrangement 11 Seat frame 111 Platform 112 handle 12 Armrest 13 User interface 14 seat cushions 141 printing foil 15 Backrest 16 Battery 17 Main control unit 171 Gyroscope 172 Speed sensor 20 Rear wheel arrangement 21 Support tube set 211 Outer pipe 212 inner tube 213 Telescopic device 22 rear wheel 30 Front wheel arrangement 31 Actuator 32 front wheel frame 321 Main body section 322 extension section 33 front wheel 40 drive unit
Claims
[1] An arrangement for automatically balancing an electric wheelchair, which arrangement comprises an electric wheelchair, the electric wheelchair comprising a seat arrangement (10), a rear wheel arrangement (20) and a front wheel arrangement (30), the electric wheelchair being equipped with two drive units (40) which supply the electric wheelchair with driving power during travel, characterized by , that the seat assembly (10) has a chair frame (11) equipped with two armrests (12), a user interface (13), a seat cushion (14), a backrest (15), a battery (16), and a main control unit (17), wherein the main control unit (17) is connected to a gyroscope (171) and a speed sensor (172), measures the ground angle with the gyroscope (171), and then transmits the measured result to the main control unit (17), wherein the main control unit (17) can adjust the rear wheel assembly (20) according to the different ground angles with the telescopic adjustment, wherein the battery (16) supplies power to the main control unit (17), the rear wheel assembly (20), the front wheel assembly (30), and the drive units (40) so that the main control unit (17), the rear wheel assembly (20), the front wheel assembly (30), and the drive units (40) can all function smoothly; that the rear wheel arrangement (20) has two support tube sets (21) which are installed on both sides of the rear of the chair frame (11) and extend obliquely downwards, wherein the respective support tube set (21) has an outer tube (211) and an inner tube (212), wherein the outer tube (211) and the inner tube (212) are inserted into one another and connected to one another by means of a telescopic device (213), wherein the movement of the telescopic device (213) enables the inner tube (212) to move coaxially telescopically in the outer tube (211), wherein a rear wheel (22) is rotatably mounted at the respective distal end of the respective support tube set (21), and that the front wheel arrangement (30) has two actuators (31) and two front wheel frames (32), wherein the two actuators (31) are each mounted on both sides of the front region of the lower surface of the seat frame (11), and the respective front wheel frame (32) has a main body section (321) and an extension section (322), wherein the main body section (321) is arranged horizontally and is inserted through the actuator (31) so that the main body section (321) can be driven by the actuator (31) and can thereby move horizontally, wherein the extension section (322) extends obliquely downwards from one end of the main body section (321) so that the extension section (322) and the support tube set (21) together form a spread, wherein a front wheel (33) is rotatably mounted on the distal end of the extension section (322) of the respective front wheel frame (32). [2] Arrangement according to claim 1, characterized bythat the electric wheelchair is foldable. [3] Arrangement according to claim 1, characterized by that a platform (111) is arranged on the chair frame (11), on which the battery (16) and the main control unit (17) can be firmly mounted. [4] Arrangement according to claim 1, characterized by that the chair frame (11) is equipped with a handle (112). [5] Arrangement according to claim 1, characterized by that the user interface (13) is a joystick operating interface. [6] Arrangement according to claim 1, characterized by that a printing film (141) is provided inside the seat cushion (14) and is connected to the main control unit (17). [7] Arrangement according to claim 1, characterized by that the gyroscope (171) and the speed sensor (172) are arranged directly on the main control unit (17). [8] Arrangement according to claim 1, characterized bythat the support tube set (21) is an electric cylinder. [9] Arrangement according to claim 1, characterized by that the front wheel (33) is larger than the rear wheel (22). [10] Arrangement according to claim 1, characterized by that the two drive units (40) are two hub motors, each mounted on the two front wheels (33).