CN107753197A - Rear Boost Smart Drive - Google Patents

Abstract

The invention discloses a rear-boosting intelligent driver, wherein a universal wheel comprises a wheel hub, end covers are respectively fixed at openings at two ends of the wheel hub, two ends of an electric driving mechanism respectively penetrate through the end covers and are supported on the end covers, at least two rows of rollers which are arranged along the circumferential direction of the wheel hub are movably assembled on the circumference of the wheel hub, and the rear-boosting intelligent driver also comprises: the wheelchair comprises a shell, wherein support arms extending along the axial direction of the shell are symmetrically arranged at one end of the shell, an assembly space is formed between the two support arms, two ends of an electric driving mechanism are respectively connected with the support arms after a universal wheel enters the assembly space between the two support arms, the other end of the shell is used for being hinged at the rear part of the wheelchair, and the universal wheel is contacted with the ground under the action of gravity; the storage battery is arranged in the shell; the controller is positioned in the shell and electrically connected with the storage battery, and the output end of the controller is electrically connected with the electric driving mechanism. The invention is assembled at the rear part of the wheelchair to help the wheelchair to run, and has no influence on the comfort of the wheelchair.

Description

Rear Boost Smart Drive

technical field

The invention relates to a rear power-assisted intelligent driver suitable for transportation tools such as wheelchairs or carts.

Background technique

The wheelchair is an important tool for rehabilitation. It is not only a means of transportation for the physically disabled, but more importantly, it enables them to perform physical exercises and participate in social activities with the help of wheelchairs. Therefore, people have higher and higher requirements for the flexibility of wheelchairs.

The traditional universal wheel is driven by external force, and the direction of the wheel needs to be changed to move, and when the external force changes the direction of movement, the wheel needs a process of adjusting the direction of the wheel, which is not flexible to use. Moreover, the direction in which the wheel is subjected to load deviates from the center of the wheel, causing the wheel frame to generate an eccentric moment, making the operation unstable and affecting the service life.

For this reason, publication number is that the utility model patent of CN204352052U discloses a kind of electric wheelchair, as shown in Figure 1, the front wheel 2 of this electric wheelchair is an omnidirectional wheel, comprises wheel hub 2-1, driven wheel 2-2, and The hub 2-1 is integrally designed with two rows of "Y"-shaped protrusions, any row of "Y"-shaped protrusions is composed of multiple "Y"-shaped protrusions 2-3 distributed on the same circumference, and the two rows of "Y"-shaped protrusions are arranged in a staggered manner , the driven wheel 2-2 is installed in the hole provided on the "Y"-shaped protrusion 2-3, and a driven wheel 2-2 is correspondingly arranged between two adjacent "Y"-shaped protrusions 2-3, and a row of "Y" Any "Y"-shaped projection on the "-shaped projection is between two "Y"-shaped projections facing another row of "Y"-shaped projections.

For the above-mentioned universal wheel is used for the front wheel or the rear wheel of the wheelchair, although the two rows of rollers arranged in the circumferential direction of the hub are staggered, but because the Y-shaped projections of the supporting rollers are interrupted, there are wheelchairs on the wheel. There are ups and downs during driving, that is, bumps are generated, which reduces the comfort of the wheelchair.

Contents of the invention

The object of the present invention is to provide a rear power-assisted intelligent driver which is assembled at the rear of small vehicles such as wheelchairs or carts and does not affect the comfort of the vehicle.

The technical solution to solve the above technical problems is as follows:

The rear power-assisted intelligent driver includes a universal wheel. The universal wheel includes a hollow hub with openings at both ends. End caps are respectively fixed at the openings at both ends of the hub. An electric drive mechanism is arranged inside the hub to drive the hub to rotate. The two ends of the driving mechanism respectively pass through the end cover and are supported on the end cover. The circumference of the hub is movably equipped with at least two rows of rollers arranged along the circumference of the hub, and includes:

The casing, one end of the casing is symmetrically provided with a support arm extending axially along the casing, and an assembly space is formed between the two support arms. After the universal wheel enters the assembly space between the two support arms, the motorized The two ends of the drive mechanism are respectively connected to the support arm, the other end of the housing is used to be hinged to the rear of the vehicle, and the universal wheels are in contact with the ground under the action of gravity;

A storage battery, the storage battery is arranged in the casing;

The controller is located in the casing and is electrically connected to the storage battery, and the output end of the controller is electrically connected to the electric drive mechanism.

The advantage of the present invention is that: after the rear power-assisted intelligent driver of the present invention is installed on the transport tool, it is not necessary to use the universal wheel as the front wheel of the transport tool like the transport tool in the background technology, but to use the universal wheel The rear booster intelligent driver formed by assembling the wheel and the housing and other components is installed at the rear of the vehicle. The rear booster intelligent driver is in contact with the ground. When the rear booster smart driver is started, it will generate auxiliary driving force for the vehicle. The vehicle is driven to reduce the burden of the person sitting on the vehicle to drive the vehicle manually. Therefore, when the rear power-assisted intelligent driver of the present invention plays an auxiliary role in driving the transport tool, the transport tool will not feel bumpy during driving, and will not affect the comfort of the transport tool.

Description of drawings

Fig. 1 is the schematic diagram of the front wheel in the electric wheelchair in the prior art;

Fig. 2 is the schematic diagram after the rear booster intelligent driver of the present invention is installed on the wheelchair;

Fig. 3 is the rear booster intelligent driver of the present invention;

Fig. 4 is a structural representation of the present invention;

Fig. 5 is the three-dimensional structure schematic diagram of the present invention;

Fig. 6 is the cross-sectional schematic diagram of the present invention after hiding the end cover, the shaft and the brushless DC motor;

Fig. 7 is a schematic diagram after hiding the hub on the basis of Fig. 6;

Fig. 8 is the schematic diagram of wheel hub;

Figure 9 is a schematic diagram of the first bracket;

Fig. 10 is the schematic diagram of the second bracket;

Figure 11 is a diagram showing the relationship between the arc radius of the mounting seat and the arc radius of the roller;

Fig. 12 is a schematic diagram after an end cover, a shaft and a brushless DC motor are assembled in the hub;

Fig. 13 is a schematic diagram of the housing in the present invention;

Fig. 14 is a schematic diagram after the upper casing is hidden on the basis of Fig. 13;

Fig. 15 is a schematic diagram of the controller in the present invention;

Fig. 16 is a schematic diagram of the connecting device in the present invention;

Fig. 17 is a schematic diagram of the magnetic field lines passing through the Hall sensor when the positional relationship between the Hall sensor and the magnet steel in the prior art;

Fig. 18 is a schematic diagram of the magnetic field lines passing through the Hall sensor when the positional relationship between the Hall sensor and the magnetic steel in the present invention;

Reference numerals in Fig. 2 to Fig. 18:

A is the rear power intelligent driver, B is the universal wheel;

10 is a wheel hub, 11 is a flange, 11a is a mounting hole, 12 is a space, and 13 is an interval space;

20 is a bracket assembly, 20a is an assembly groove, 21 is a first bracket, 21a is a protective edge, 22 is a second bracket, 22a is an axial extension, 22b is a rib, 23 is a first mounting seat, 23a is a first Arc groove, 24 is the second seat, 24a is the second arc groove, and 25 is the first step;

30 is a roller, and 31 is a bearing;

40 is an end cover, 41 is a shaft, 42 is a brushless DC motor, and 43 is a gear transmission mechanism;

50 is a casing, 51 is a support arm, 52 is an assembly space, 53 is a storage cavity, and 54 is a storage battery;

60 is a controller, 61 is a DC power supply, 62 is a Hall detection module, 63 is a processor, and 64 is a driver;

70 is a connecting device, 71 is a collet, 72 is a hinge, 73 is a first connecting rod, 74 is a second connecting rod, and 75 is a telescopic locking device.

detailed description

The present invention is used as an auxiliary driving tool on small vehicles such as wheelchairs or carts, and is installed on the rear of these vehicles. This embodiment will be described in conjunction with the wheelchair, as follows:

As shown in Figure 2 and Figure 3, the rear booster intelligent driver A of the present invention comprises a universal wheel B, a housing, a battery, a controller, and a connecting device. After the rear column is put on, the rear power-assisted intelligent driver A forms contact with the ground. When the rear power-assisted intelligent driver A is started, it generates an auxiliary driving force for the wheelchair to help the wheelchair drive, so as to reduce the need for people sitting on the wheelchair to drive the wheelchair through manual operation. The burden of each part and the relationship between them are described in detail below:

The universal wheel B includes a hollow wheel hub 10 with openings at both ends, as shown in Figures 4 to 8, radial flanges 11 are provided on the peripheral surface of the wheel hub 10, and two groups of flanges 11 are preferably used, each One group may consist of a continuous annular flange, or may consist of a plurality of discrete flanges. In this embodiment, each group preferably adopts an annular flange 11 . The flange 11 is provided with a plurality of axial mounting holes 11 a, and these mounting holes 11 a are used for mounting the bracket assembly 20 .

In one or more embodiments, preferably, the distance between the end of the flange 11 close to the axial end surface of the hub 10 and the axial end surface of the hub 10 is greater than 1mm, so as to form a space 12 for assembling a part of the bracket assembly, so as to avoid After the bracket assembly 20 is assembled with the hub 10, the bracket assembly 20 protrudes to the axial outside of the axial end surface of the hub 10. If end caps are installed at both ends of the hub, the interference of the bracket assembly 20 on the assembly of the end caps can be avoided. The space 13 between the two flanges 11 on the hub 10 forms a space for assembling a part of the bracket assembly.

End caps 40 are respectively fixed at the openings at both ends of the hub 10 , and an electric drive mechanism for driving the hub to rotate is arranged inside the hub 10 , and the two ends of the electric drive mechanism respectively pass through the end caps and are supported on the end caps. As shown in Fig. 4, Fig. 5 and Fig. 12, the electric drive mechanism includes a shaft 41, a brushless DC motor 42, and a gear transmission mechanism 43. The inner wall of the hub 10 is provided with a gear ring, and the end cover 40 is fixed on the shaft of the hub 10. On the end face, an assembly hole is provided on the axial end face of the wheel hub 10. After the end cover 40 covers the axial end face of the wheel hub 10, the end cover and the wheel hub 10 are fastened as a whole by screws. The brushless DC motor 42 is located inside the hub 10. After one end of the shaft 41 passes through the center of the brushless DC motor 42, the two ends of the shaft 41 are respectively supported on the end cover 40, and the gear transmission mechanism is arranged on the output of the brushless DC motor 42. At the end, the gear transmission mechanism 43 meshes with the ring gear on the inner wall of the hub 10 .

In the patent with the publication number CN204352052U, the Y-shaped protrusion 2-3 of the driven wheel 2-2 is integrally formed with the wheel hub 2-1, and these integrally formed structures will increase the manufacturing difficulty and increase the manufacturing cost. For the patent in CN204352052U, since the spacing between two adjacent Y-shaped protrusions is fixed, when installing, when the two ends of the driven wheel 2-2 are respectively inserted into the through holes provided at the ends of the Y-shaped protrusions , the driven wheel 2-2 needs to be deformed to be assembled. Such a structure is not only difficult to install, but also reduces the accuracy of the installation due to the deformation of the driven wheel. Therefore, the present invention provides another way to install the roller 30, specifically as follows:

The circumference of the hub 10 is movably equipped with at least two rows of rollers 30 arranged along the circumference of the hub, and the rollers 30 are supported by the bracket assembly 20 installed on the circumference of the hub 10 . As shown in Figures 4 to 10, the bracket assembly 20 is fixed on the flange 11, and the bracket assembly 20 is provided with an assembly groove 20a for accommodating the flange 11, and the flange 11 is inserted into the assembly groove 20a In the middle, the bracket assembly 20 and the flange are fastened together by fasteners, and the fasteners are preferably screws.

As shown in FIGS. 6 and 7 , in one or more embodiments, the bracket assembly 20 is formed by fastening discrete first brackets 21 and second brackets 22 together, the first bracket 21 and the second bracket 22 Both are ring-shaped, the first bracket 21 and the second bracket 22 are sleeved on the hub 10 respectively, the second bracket 22 is connected with the mounting holes on the flange 11 by screws, so that the second bracket 22 and the flange 11 are fastened as One.

As shown in Figures 6 and 7, since the first bracket 21 and the second bracket 22 are respectively sleeved on the hub 10, the first bracket 21 is installed at the space 12, and the second bracket 22 is installed at the space 13, for As far as the first bracket 21 installed in the space 12 is concerned, the structure of a whole ring can be adopted, and a structure of a ring formed by combining a plurality of arc-shaped brackets can also be adopted. In this embodiment, the first bracket 21 preferably adopts Integral ring structure.

As shown in Figures 6 and 7, for the second bracket 22 installed in the space 13, since there are two flanges 11 in this embodiment, it is necessary to set the second bracket 21 to at least two Each arc-shaped bracket is composed of two arc-shaped brackets, so that the second bracket can be installed in the interval space 13. Each arc-shaped bracket preferably adopts a semicircular structure. Of course, the arc-shaped brackets can also be other than semi-circular, as long as these arc-shaped brackets are connected end to end to form a ring. The second support 22 can be, for example, when there are 3 arc supports, the radian of each arc support is 120 degrees, and when there are 2 arc supports, the arc of one of them is less than 180 degrees, while the other The radian of an arc-shaped bracket is greater than 180 degrees.

As shown in Figures 6 and 7, in this embodiment, the flanges 11 on the peripheral surface of the hub are two groups, each group of flanges 11 is equipped with the bracket assembly 20, and each group of bracket assemblies 20 One end of the arc bracket is abutted against the flange 11 on which the bracket assembly is installed, and the other end of the arc bracket in each group of bracket assemblies 20 is provided with an axial extension 22a, wherein the arc bracket in one group of bracket assemblies 20 The axial extension portion 22a abuts against the axial extension portion of the arc-shaped bracket in another group of bracket components to form an axial stop. Through such a structural arrangement, the second bracket 22 is installed in the space 13, and one end of the two second brackets 22 can be axially limited by the flange 11, and the other ends of the two second brackets 22 Limiting each other makes the stability of the second bracket 22 better after assembly.

As shown in Figures 4 to 10, a plurality of mounting seats parallel to the radial direction of the hub are evenly distributed on the peripheral surface of the bracket assembly 20, and each mounting seat is tightly closed by a discrete first mounting seat 23 and a second mounting seat 24. Formed after solidification, one end of the first mounting base 23 is located on the circumference of the first bracket 21 , and one end of the second mounting base 24 is located on the circumference of the second bracket 22 . The first mounting base 23 is integrally formed with the first bracket 21, the second mounting base 24 is integrally formed with the second bracket 22, and the first mounting base 23 is fastened with the second mounting base 24 by screws, so that the first bracket 21 and the second mounting base 24 are fastened together. The second bracket 22 is fixed as a whole.

As shown in Figures 4 to 10, each of the first mounts 23 extends along the radial direction of the first bracket 21 to form a first step 25 on the axial end surface of the first bracket 21, and the first step 25 not only increases The strength of the first bracket 21, and each first step 25 preferentially forms an annular step in an end-to-end state, when the first bracket 21 draws close to the second bracket 22, the axial end surface of the second bracket 22 is aligned with the first bracket 22. After the axial end surfaces of the steps 25 abut against each other, the assembly groove 20 a is formed between the axial end surfaces of the first bracket 21 , the axial end surfaces of the second bracket 22 and the first step 25 .

As shown in Figures 4 to 10, the universal wheel B in the present invention, during use, will rotate in any direction other than the circumferential direction. Therefore, the force on the universal wheel B is arbitrary. direction force. In the present invention, the bracket assembly 20 and the hub 10 are manufactured separately and combined into one, therefore, the strength of the bracket assembly 20 will be reduced compared with the bracket assembly directly formed on the hub 10, thus, in one or more In one embodiment, in order to increase the strength of the bracket assembly 20, a rib 22b is provided on the axially extending portion 22a, and one end of the rib 22b is fixed to the second mount 24, and the shaft of the rib 22b is connected to the second mount 24. In this way, when the universal wheel B is subjected to a force in a non-circumferential direction, these forces are resisted under the support of the rib plate 22b, so that the second mounting seat 24 can be prevented from breaking.

The first mounting seat 23 and the second mounting seat 24 are preferably fastened with screws, and the two ends of each first mounting seat 23 are respectively provided with a first arc-shaped groove 23a on the same circumference, and the two ends of each second mounting seat 24 The ends are respectively provided with second arc-shaped grooves 24a located on the same circumference. The shape of the roller 30 is preferably drum-shaped, and the end of the roller 30 is placed in the second arc-shaped groove. After the first mounting seat 23 is closed to the second mounting seat 24 and fastened, the end of the roller 30 is moved. Fit into the circular hole surrounded by the first arc-shaped groove 23 a on the first mount 23 and the second arc-shaped groove 24 on the second mount 24 .

In the above-mentioned assembly method, when the bracket assembly 20 is installed, the flange 11 of the second bracket 22 is fastened first, and the end of the roller 30 is placed in the second arc-shaped groove 24a, and then the first bracket 21 is placed toward the second bracket 22. Finally, the first mounting seat and the second mounting seat are fastened, and finally the end of the roller 30 is movably assembled to the first arc-shaped groove 23a on the first mounting seat 23 and the second mounting seat 24 in the circular hole surrounded by the second arc groove 24. In this way, a plurality of rollers 30 are arranged along the circumference of the bracket assembly 20 , the rollers 30 can move integrally with the hub 10 , and the rollers 30 can also rotate on the mounting seat to adapt to the movement when changing any direction.

The arc of the first arc groove 23a and the second arc groove 24a can be 180 degrees, or: the arc of the first arc groove 23a is less than 180 degrees, and the arc of the second arc groove 24a is greater than 180 degrees. Can be: the arc of the first arc-shaped groove 23a is greater than 180 degrees, and the arc of the second arc-shaped groove 24a is less than 180 degrees. In short, the sum of the two arcs is 360 degrees so that the first arc-shaped groove 23a It is enough to form a circular hole together with the second arc-shaped groove 24a.

The end of the roller 30 is provided with a bearing 31. After the first mounting seat 23 and the second mounting seat 24 are brought together and fastened, the bearing 31 is assembled into the first arc groove 23a and the second mounting seat 23 on the first mounting seat 23. In the circular hole surrounded by the second arc-shaped groove 24a on the mounting base 24. By installing the bearings 31 at both ends of the roller 30, the friction force between the roller 30 and the mounting seat can be reduced, so that the roller 30 is more flexible when it rotates.

In this embodiment, since the flanges 11 on the peripheral surface of the hub are in two groups, the bracket assembly 20 is installed on each group of flanges 11, and the rollers 30 on the mounting seats of the two groups of bracket assemblies 20 are in the form of Arranged in a staggered and complementary manner, the central points of the arc-shaped surfaces of the three rollers 30 arranged in a staggered and complementary manner are arranged in an isosceles triangle, and among the three rollers, the two rollers on the mounting seats of the same row of bracket assemblies 20 30 is located on the base of the isosceles triangle. Here, the three rollers 30 on the mounting bases of the two groups of bracket assemblies 20 are arranged in an isosceles triangle, which is arranged in an isosceles triangle. The universal wheel B always maintains a stable state during the operation process. If the three rollers 30 arranged alternately and complementary to each other on the mounting seats of the two groups of bracket assemblies 20 are arranged in a non-isosceles triangle, the universal wheel B will be in a stable state during the operation process. It will be unstable, especially when the universal wheel B turns, only two rollers will touch the ground, and the universal wheel B will be unbalanced. If the universal wheel B of the present invention is applied to the wheelchair, the wheelchair will There are also slight bumps that can be uncomfortable for a person in a wheelchair.

As shown in Figures 4 to 11, the outer top ends of the first mounting seat 23 and the second mounting seat 24 are in the shape of an arc concentric with the hub 10, the radius of the arc is r, and the arc surface of the drum-shaped roller 30 The radius of the concentric circle with the hub is R1, and the value of r/R1 is in the range of 0.96-0.98. Set the value of r/R1 in the range of 0.96 to 0.98, and the stability and service life of the universal wheel B are the best. If it is less than this value range, the supporting force of the bracket assembly 20 and the mounting seat to the roller 30 is poor, and the roller 30 The force of 30 itself is relatively large, which will affect the life of the rollers; if it is greater than this value range, although the support force of the bracket assembly 20 and the mounting seat to the rollers is good, the ability of the universal wheel B to cross obstacles will be reduced. The bracket assembly 20 and the mount create resistance.

For the universal wheel B with the above structure, the bracket assembly 20 and the wheel hub 10 are manufactured separately, which is beneficial to reduce the manufacturing difficulty, and the wheel hub 10, the bracket assembly 20 and the mounting seat can be made of different materials, which is beneficial to reduce the manufacturing cost, and the accuracy Easy to get under control. When assembling, the end of the roller 30 is placed in the first arc-shaped groove 23a, and after the second mounting seat 24 is closed to the first mounting seat 23 and fastened, the end of the roller 30 is movably assembled to the first mounting seat 23. In the round hole surrounded by the first arc-shaped groove 23a on the first mounting seat 23 and the second arc-shaped groove 24a on the second mounting seat 24, such a structure not only makes it easier to change the roller 30 when assembling, but also avoids The deformation of the roller 30 is avoided, and the precision after assembly is guaranteed. Therefore, the universal wheel B of this structure has the advantage that the product has no eccentric moment during use, becomes more stable, and has a long service life.

As shown in Figure 2, Figure 3, Figure 13 and Figure 14, one end of the housing 50 is symmetrically provided with a support arm 51 extending axially along the housing, and an assembly space 52 is formed between the two support arms 51. After the wheel B enters the assembly space 52 between the two arms, the two ends of the electric drive mechanism are respectively connected with the arms 51; The end of the shaft 41 is fixedly connected with the support. The other end of the housing 50 is used to be hinged at the rear of the wheelchair, and the universal wheel B is in contact with the ground under the action of gravity.

As shown in Figure 14, a storage cavity 53 is provided in the housing 50, and the storage battery 54 is installed in the storage cavity 53; the housing 50 is composed of an upper housing and a lower housing, and the upper housing and the lower housing are internally A cavity is formed, and after the upper case and the lower case are fastened into one body, a shrinkage cavity 53 for installing a storage battery 54 is formed between the upper case and the lower case. Thus, the battery 54 is assembled with the case 50 and the caster B integrally.

In some environments with a smaller area, it is not necessary to use the rear booster intelligent driver of the present invention, such as indoors, or the occupants do not need to use the rear booster smart driver, but need to separate the rear booster smart driver from the wheelchair , because the storage battery 54 is assembled in the housing 50, therefore, the rear power-assisted intelligent driver dismantled from the wheelchair can charge the storage battery 54, and the storage battery does not need to be fixed on the wheelchair, which helps to reduce the weight of the wheelchair, thereby contributing to To reduce the burden on the occupant to manually drive the wheelchair alone. Therefore, the advantage of assembling the battery 54 with the housing 50 and the universal wheel B is that after the rear power-assist intelligent driver is separated from the wheelchair, the rear power-assist intelligent driver can be charged, and the occupant can be lightened to manually drive the wheelchair. wheelchair burden.

As shown in FIG. 14 , the controller 60 is located in the housing 50 and is electrically connected to the battery 54 , and the output end of the controller 60 is electrically connected to the electric drive mechanism. The controller 60 controls whether the electric driving mechanism can obtain the required working current according to the driving speed of the wheelchair to provide auxiliary driving force to the driving wheelchair.

The inner wall surface of the end cover 40 is provided with a plurality of magnetic steels (not shown in the figure), and these magnetic steels are evenly distributed on the same circumference on the inner wall surface of the end cover 40, and the position of each magnetic steel changes with the rotation of the end cover. changes, the magnetic force lines emitted by these magnets are detected by the controller and used to calculate the speed of the universal wheel B.

As shown in Figure 15, the controller 60 includes a DC power supply 61, a Hall detection module 62 installed on the electric drive mechanism, a processor 63, and a driver 64. The DC power supply 61 converts the input voltage of the storage battery 54 into various working Voltage, the various operating voltages are 12V, 5V, 3.3V, etc., and these voltages are respectively used by the Hall detection module 62, the processor 63, and the driver 64 when they work.

When the wheelchair is stationary, the occupant or the person pushing the wheelchair will give the wheelchair a manual force to make the wheelchair move, and when the wheelchair is driven at a manual speed, the universal wheel B will rotate under the friction force with the ground, Hall The detection module 62 detects a plurality of magnets on the end cover 40 of the rotating universal wheel B. For example, 18 magnets are evenly distributed on the end cover 40 , and each time a magnet is detected, the Hall detection module 62 generates a waveform, and the Hall detection module 62 shapes the waveform and outputs it to the processor 63 .

The Hall detection module 62 includes a Hall sensor that detects the direction of the magnetic field of the magnetic steel and is used to output different waveform signals to determine whether the universal wheel B is in forward rotation or reverse rotation. In this way, the Hall sensor not only detects the magnetic steel, The moving direction of the magnetic steel is also detected for the processor to judge whether the universal wheel B is in the state of forward rotation or reverse rotation, and then obtain whether the wheelchair is in the forward or backward state. The Hall sensor is installed on the stator of the brushless DC motor. For the Hall sensor, it is static relative to the brushless DC motor 42, the hub 10 and the end cover 40. Therefore, it can be evenly distributed on the end cover 40. The magnetic steel on it is tested. The Hall detection module 62 also includes a shaping circuit, which shapes the waveform acquired by the Hall sensor and outputs it to the processor 63 .

For the way that the Hall sensor is used to output different waveform signals by detecting the direction of the magnetic field of the magnetic steel to judge whether the universal wheel B is in forward rotation or reverse rotation, if the relationship between the Hall sensor and the magnetic steel after it is installed on the stator is (Common installation method): The surface surrounded by the length and height of the Hall sensor is perpendicular to the magnetic force line of the magnet (as shown in Figure 17), then the Hall sensor detects the positive movement of the magnet (along the positive direction of the universal wheel B) The output waveform when it moves in the direction of rotation) is consistent with the output waveform when it moves in the reverse direction (the direction in which the universal wheel B rotates in the opposite direction). Therefore, this installation method cannot judge whether each magnet is moving in the forward direction or Move in reverse. In this embodiment, the relationship between the Hall sensor and the magnetic steel after it is installed on the stator is: the surface surrounded by the width and height of the Hall sensor is perpendicular to the magnetic force lines of the magnetic steel (as shown in Figure 18) , based on this installation method, when the Hall sensor detects whether the magnet steel on the end cover 40 is moving forward or backward, the waveform output by the Hall sensor when the magnet steel moves forward and the reverse direction is detected. The waveforms are inconsistent. Therefore, after obtaining such a waveform, the processor 63 can determine whether the universal wheel B is currently rotating forward or reverse, and then determine the driving direction of the wheelchair. According to the driving direction of the wheelchair, if the current wheelchair is in a backward state, the processor controls the electric drive mechanism to make the universal wheel B rotate forward to resist the backward force of the wheelchair. Generally, they are people with limited mobility. Therefore, safety is very important for wheelchairs. When the wheelchair is retreated through the above detection, the method of making the universal wheel B produce a force that resists the retreat increases the safety of the wheelchair in one direction. On the other hand, the intelligence degree of the wheelchair B is also improved.

Processor 63 is a single-chip microcomputer chip including a microprocessor, program memory, data memory, timer, general-purpose IO port, and programmable PWM encoder. It is connected to external devices such as motors through peripheral circuits. run.

The processor 63 calculates the rotation speed of the universal wheel B under the frictional force according to the detection signal provided by the Hall detection module 62 to obtain the current driving speed of the wheelchair, and compares the rotation speed with the threshold set in the processor , according to the comparison result, to issue a command signal to provide the required operating current to the electric drive mechanism. In order to ensure safety, when the wheelchair is stationary, even if the rear power-assisted intelligent driver is powered on, it will not start immediately, but the passenger or the person who pushes the wheelchair will give the wheelchair manual force to make the wheelchair move. According to The driving speed determines whether the rear power-assisted intelligent driver starts, and detecting the driving speed of the wheelchair is completed by the Hall detection module 62 and the processor 63, because the Hall detection module 62 detects the magnetic steel, so , the processor 63 can calculate the speed of the current universal wheel B according to the acquired waveform (or pulse waveform) quantity, thereby the running speed of the wheelchair can be obtained, and the calculated speed of the universal wheel B and the processing If the comparison result is that the speed of the universal wheel B is greater than the threshold set in the processor, the processor will send a command signal to provide the required operating current to the electric drive mechanism, so that the intelligent driver can be powered up to start. To help the passengers to drive. Conversely, there is no need to boost the intelligent drive after start.

For example, after the wheelchair in the static state is pushed by hand, the driving speed of the wheelchair reaches 2.5Km/h, and the magnetic steel on the rotating end cover is detected by the Hall sensor, and the processor 63 obtains the universal wheel speed after obtaining the detection signal. Rotate at a speed of 2.5Km/h, so that the current traveling speed of the wheelchair is 2.5Km/h. Processor 63 compares this travel speed with the threshold value preset in this processor 63, wherein the threshold value is 2Km/h, the comparison result is that the speed of universal wheel B is greater than the threshold value set in the processor, and processor 63 sends to The electric drive mechanism provides the command signal of the required working current, so that the rear-assist intelligent drive is started to help the passengers to travel.

When the manual driving speed of the wheelchair satisfies the command signal that the processor 63 provides the required operating current to the electric drive mechanism, the processor 63 selects from a plurality of driving speeds preset in the processor according to the current driving speed of the wheelchair. Select one of the drive speeds to drive the wheelchair. For example, the current traveling speed of the wheelchair is 2.5Km/h, and the processor 63 selects to help the wheelchair travel with a driving speed of 4Km/h; the current traveling speed of the wheelchair is 5Km/h, and the processor 63 selects to use the driving speed of 8Km/h to help the wheelchair move. Through different driving speeds, it can meet the different needs of the passengers, and at the same time, it also improves the intelligence of the rear-assist intelligent drive.

If the comparison result is that the rotational speed is lower than the threshold set in the processor 63, the processor 63 sends an instruction signal to cut off the required working current to the electric drive mechanism. For example, if the current speed of the wheelchair is less than 2.5Km/h, the processor 63 sends an instruction signal to cut off the required operating current to the electric drive mechanism, and the electric drive mechanism cannot obtain the driving current, so the electric drive mechanism cannot work independently.

The driver 64 receives the instruction signal from the processor 63, converts the direct current outputted by the direct current power supply into a precisely controlled non-sinusoidal alternating current and supplies it to the electric drive mechanism, and the non-sinusoidal alternating current is a rectangular wave.

The controller 60 also includes a control switch, which is used to control the power on and off, and the control switch is a button switch, or the control switch is a remote controller. The control switch is electrically connected to the processor 63, and the control switch is used to send at least one instruction signal limiting the maximum driving speed to the processor 63. Preferably, the control switch can send three instruction signals, one of which is a switch signal to the power supply , the second is the first maximum speed limit signal, and the third is the second maximum speed limit signal. The control switch has three lead pins, which are respectively connected to three different input pins of the controller. For example, when the toggle control switch is in the first maximum speed limit position, the control switch sends an instruction signal that the maximum driving speed is 5Km/h to the processor 63; The controller 63 sends out a command signal with a maximum driving speed of 8Km/h. In this way, the person seated in the wheelchair can control the motor by adjusting the output current after the processor 63 receives the corresponding control command through the selection of the control switch. The speed of the wheelchair.

As shown in Fig. 2 and Fig. 16, it also includes a connecting device 70 connected to the rear pole on which the rear wheel of the wheelchair is installed, and the other end of the housing 50 is hinged on the connecting device 70, and the rear universal wheel is in contact with the ground. The connecting device 70 is a telescopic connecting device, and the connecting device 70 includes a connecting rod, and the two ends of the connecting rod are provided with chucks 71, and the chucks 71 are used to be clamped on the rear pole of the wheelchair, and the middle part of the connecting rod A hinge 72 connecting the housing 50 is provided, the connecting rod includes a first connecting rod 73 and a second connecting rod 74, one end of the first connecting rod 73 is provided with an axial installation hole, and the peripheral surface of the first connecting rod 73 There is a telescopic locking device 75 with one end inserted into the mounting hole, one end of the second connecting rod 74 is inserted into the mounting hole, and the second connecting rod 74 is inserted into the mounting hole through the telescopic locking device 75 The length is locked. Telescopic locking device 75 preferably adopts screw. With such a structure, the length of the connecting rod can be adjusted to adapt to wheelchairs of different widths, and the assembly and disassembly are also very convenient. The surface of the clip 71 is provided with a buffer pad, which is used to prevent the clip 71 from pinching the rear pole of the wheelchair. Chuck 71 also can adopt hoop to replace.

The present invention is not limited to the above-mentioned embodiments. For example, the end of the roller 30 is placed in the first arc-shaped groove 23a, and after the second mounting seat 24 is fastened to the first mounting seat 23, the end of the roller 30 is fixed. It can be movably fitted into the circular hole surrounded by the first arc-shaped groove 23 a on the first mount 23 and the second arc-shaped groove 24 a on the second mount 24 . In this assembly method, when the bracket assembly 20 is installed, the first bracket 21 and the flange 11 are first fastened, and the end of the roller 30 is placed in the first arc-shaped groove 23a, and then the second bracket 22 is placed toward the first The brackets 21 are brought together, and finally, the first mounting seat and the second mounting seat are fastened, and finally the end of the roller 30 is movably assembled into the first arc-shaped groove 23a and the second mounting seat 23 on the first mounting seat 23. In the circular hole surrounded by the second arc-shaped groove 24 on the mounting base 24 .

An arc-shaped protective edge 21a surrounding the outside of the roller 30 is provided between two adjacent first mounting seats 23. The protective edge 21a is integrally formed with the first bracket 21 and the first mounting seat 23. The 30 roller 2 and the protective edge There are gaps between the edges 5.

Claims (10)

1. power-assisted intelligent driver after a kind of, including universal wheel, the universal wheel, which includes both ends, has opening and hollow wheel hub, takes turns End cap is respectively fixed with the both ends open of hub, the electric driving mechanism for driving the hub rotation, electronic drive are provided with wheel hub The both ends of motivation structure are each passed through end cap and are supported on end cap, and at least two rows are actively equipped with the circumference of wheel hub along the wheel The roller of hub circumferentially, it is characterised in that also include：

Housing, one end of housing are arranged with along the axially extending support arm of the housing, and assembly space is formed between two support arms, After universal wheel is entered in the assembly space between two support arms, the both ends of electric driving mechanism are connected with support arm respectively, housing The other end be used to be hinged on the rear portion of means of transport, universal wheel contacts with ground under gravity；

Battery, battery are arranged in housing；

Controller, controller are located in housing and are connected with storage battery, and output end and the electric driving mechanism of controller are electrically connected Connect.

2. power-assisted intelligent driver after according to claim 1, it is characterised in that the controller is according to means of transport Can travel speed control electric driving mechanism obtain required operating current and be made with providing process auxiliary drive to the means of transport of traveling Firmly.

3. power-assisted intelligent driver after according to claim 2, it is characterised in that end cap internal face is provided with multiple magnetic Steel；

The controller includes：

Dc source, the input voltage of battery is converted into a variety of operating voltages；

Hall detection module on electric driving mechanism, make when manually to means of transport travel speed universal wheel with Rotated under the friction force on ground, Hall detection module detects to multiple magnet steel on the end cap of the universal wheel of rotation；

Processor, the detection signal provided according to Hall detection module, calculate rotating speed of the universal wheel under the friction force To obtain the current travel speed of means of transport, and by the rotating speed compared with the threshold value set in processor, if comparing As a result it is more than or equal to the threshold value set in processor for the rotating speed, then processor is sent to needed for electric driving mechanism offer The command signal of operating current；

Driver, the command signal for coming from processor is received, the direct current that dc source is exported, be converted to non-sine exchange Electricity is supplied to electric driving mechanism.

4. power-assisted intelligent driver after according to claim 3, it is characterised in that be less than if comparative result is the rotating speed The threshold value set in processor, then processor send the command signal to operating current needed for electric driving mechanism cut-out.

5. power-assisted intelligent driver after according to claim 3, it is characterised in that the Hall detection module includes detection The direction in magnet steel magnetic field is used to export different waveform signals to judge that universal wheel is in the Hall sensor of forward or reverse.

6. power-assisted intelligent driver after according to claim 5, it is characterised in that the wide and high institute of the Hall sensor The magnetic line of force of the surface surrounded perpendicular to magnet steel.

7. power-assisted intelligent driver after according to claim 4, it is characterised in that the traveling for giving means of transport manually For speed when meeting the command signal of operating current needed for processor to electric driving mechanism offer, processor is according to means of transport Current travel speed, one of actuating speed is selected from the multiple actuating speeds being preset in the processor with to fortune Defeated instrument is driven.

8. power-assisted intelligent driver after according to claim 4, it is characterised in that the controller is also opened including control Close, the controlling switch electrically connects with processor, and controlling switch is used to send at least one limitation highest driving speed to processor The command signal of degree.

9. power-assisted intelligent driver after according to claim 8, it is characterised in that the controlling switch is button switch, Or controlling switch is remote control.

10. power-assisted intelligent driver after according to claim 1, it is characterised in that also include after being installed with means of transport The attachment means of the rear vertical rod connection of wheel, the other end of housing are articulated with attachment means rear universal wheel and contacted with ground.