CN208659738U - Rear Assist Smart Drive - Google Patents

Abstract

The utility model discloses a back helping hand intelligence driver, universal wheel include wheel hub, and wheel hub's both ends opening part is fixed with the end cover respectively, and end cover and supporting are passed respectively at electric drive mechanism's both ends on the end cover, are equipped with two row at least rollers of arranging along this wheel hub circumference on wheel hub's the circumference with moving about, still include: 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 utility model is assembled at the rear part of the wheelchair to help the wheelchair to run, and does not affect the comfort of the wheelchair.

Description

Power-assisted intelligent driver afterwards

Technical field

The utility model relates to a kind of rear power-assisted intelligent drivers suitable for means of transports such as wheelchair or carts.

Background technique

Wheelchair is the important tool of rehabilitation, it is not only the walking-replacing tool of limbs the disabled, it is often more important that borrows them Help wheelchair to carry out physical exercise and participate in social activities, so people are also higher and higher to the requirement on flexibility of wheelchair.

Traditional universal wheel is pushed by external force, and the direction that need to change wheel could move, and when external force changes the direction of motion When, wheel needs the process of one section of adjustment wheel direction, inflexible for use.And direction and wheel subcenter that wheel is loaded Offset makes wheel carrier generate eccentric moment, and operation is unstable, influences service life.

For this purpose, the utility model patent of Publication No. CN204352052U discloses a kind of electric wheelchair, as shown in Figure 1, The front-wheel 2 of the electric wheelchair is omni-directional wheel, including wheel hub 2-1, driven wheel 2-2, and the two rows " Y " with wheel hub 2-1 integrated design Shape is prominent, and any one row's Y-shaped is prominent, and by multiple distributions, the prominent 2-3 of Y-shaped is constituted on the same circumference, and two rows of Y-shapeds are prominent Interlaced arrangement, driven wheel 2-2 are installed in the hole being provided on the prominent 2-3 of Y-shaped, corresponding between the prominent 2-3 of two adjacent Y-shapeds One driven wheel 2-2 is set, and the prominent another row's Y-shaped of face of any Y-shaped that row's Y-shaped protrudes is two " Y " outstanding Between shape is prominent.

For the front-wheel or rear-wheel that above-mentioned universal wheel is for wheelchair, although two rows of rollers along wheel hub circumferential array It is staggered, but has interruption since the Y shape of support roller protrudes, causing, which has wheelchair to exist in the process of moving, rises and falls, It can generate and jolt, reduce the comfort of wheelchair.

Utility model content

The smaller vehicles such as wheelchair or cart rear portion is assemblied in the purpose of this utility model is to provide one kind and to fortune The rear power-assisted intelligent driver that the comfort of defeated tool does not have an impact.

The technical solution for technical problem of reporting in solution is as follows:

Power-assisted intelligent driver afterwards, including universal wheel, the universal wheel include that both ends have opening and hollow wheel hub, wheel hub Both ends open at be respectively fixed with end cap, be provided in wheel hub drive the hub rotation electric driving mechanism, electric drive The both ends of mechanism are each passed through end cap and are supported on end cap, and at least two rows are actively equipped on the circumference of wheel hub along the wheel hub Roller circumferentially, further includes:

Shell, one end of shell are symmetrically arranged with the support arm axially extending along the shell, and assembly is formed between two support arms Space, after universal wheel enters in the assembly space between two support arms, the both ends of electric driving mechanism are connect with support arm respectively, The other end of shell is used to be hinged on the rear portion of means of transport, universal wheel under the effect of gravity with ground face contact；

Battery, battery are arranged in shell；

Controller, controller are located in shell and are electrically connected with battery, the output end and electric driving mechanism of controller Electrical connection.

Utility model has the advantages that being mounted with the rear power-assisted intelligent driver of the utility model on means of transport Afterwards, without as the means of transport in background technique, universal wheel is come as the front-wheel of means of transport using but will be universal The rear power-assisted intelligent driver that the component assemblings such as wheel and shell are integrally formed is mounted on the rear portion of means of transport, rear power-assisted intelligence Driver and ground form and contact, when after the starting of power-assisted intelligent driver after, the activation force of auxiliary is generated to means of transport Means of transport traveling is helped, passes through the negative of manual manipulation mode driving means of transport to mitigate carriage personnel on means of transport Load.Therefore, when playing auxiliary drive means of transport, means of transport is being run over the rear power-assisted intelligent driver of the utility model Be not in the feeling jolted in journey, the comfort of means of transport is not had an impact.

Detailed description of the invention

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

Fig. 2 is the schematic diagram after the rear power-assisted intelligent driver of the utility model is mounted on wheelchair；

Fig. 3 is the rear power-assisted intelligent driver of the utility model；

Fig. 4 is the structural schematic diagram of the utility model；

Fig. 5 is the schematic perspective view of the utility model；

Fig. 6 is the schematic diagram of the section structure after concealing end cap, axis and brshless DC motor of the utility model；

Fig. 7 is the schematic diagram concealed after wheel hub on the basis of Fig. 6；

Fig. 8 is the schematic diagram of wheel hub；

Fig. 9 is the schematic diagram of first support；

Figure 10 is the schematic diagram of second support；

Figure 11 is the relational graph of mounting base arc radius and radius of curvature for rollers；

Figure 12 is that the schematic diagram after end cap, axis and brshless DC motor is assembled in wheel hub；

Figure 13 is the schematic diagram of the shell in the utility model；

Figure 14 is that the schematic diagram after upper housing is concealed on the basis of Figure 13；

Figure 15 is the schematic diagram of the controller in the utility model；

Figure 16 is the schematic diagram of the attachment device in the utility model；

When Figure 17 is the positional relationship of Hall sensor and magnet steel in the prior art, the magnetic line of force passes through Hall sensor Schematic diagram；

When Figure 18 is the positional relationship of Hall sensor and magnet steel in the present invention, the magnetic line of force passes through Hall sensor Schematic diagram；

Appended drawing reference of the Fig. 2 into Figure 18:

A is rear power-assisted intelligent driver, and B is universal wheel；

10 be wheel hub, and 11 be flange, and 11a is mounting hole, and 12 be space, and 13 be clearance space；

20 be bracket component, and 20a is fitting groove, and 21 be first support, and 21a is protection edge, and 22 be second support, and 22a is Axially-extending portion, 22b are floor, and 23 be the first mounting base, and 23a is the first arc groove, and 24 be the second dress seat, and 24a is the second arc Shape slot, 25 be first step；

30 be roller, and 31 be bearing；

40 be end cap, and 41 be axis, and 42 be brshless DC motor, and 43 be gear drive；

50 be shell, and 51 be support arm, and 52 be assembly space, and 53 be storage cavity, and 54 be battery；

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

70 be attachment device, and 71 be collet, and 72 be hinge, and 73 be first connecting rod, and 74 be the second connecting rod, and 75 be flexible Formula locking device.

Specific embodiment

The utility model in the smaller vehicles such as wheelchair or cart, and is mounted on this as auxiliary drive tool application The rear portion of a little means of transports, present embodiment is illustrated in conjunction with wheelchair, specific as follows:

As shown in Figures 2 and 3, the rear power-assisted intelligent driver A of the utility model, including universal wheel B, shell, battery, The rear power-assisted intelligent driver A of controller, attachment device, the utility model is mounted on the rear column of wheelchair by attachment device Afterwards, rear power-assisted intelligent driver A and ground form and contact, when after power-assisted intelligent driver A starting after, auxiliary is generated to wheelchair Activation force help wheelchair traveling, with mitigate carriage on wheelchair personnel by manual manipulation mode driving wheelchair burden, The relationship to every part and between them is described in detail below:

Universal wheel B includes both ends with opening and hollow wheel hub 10 is set on the circumferential surface of wheel hub 10 as shown in Fig. 4 to Fig. 8 There is radial flange 11, the quantity of flange 11 preferentially uses two groups, and each group can be made of a continuous collar flange, It can be made of multiple discrete flanges, in the present embodiment, each group preferentially uses cricoid flange 11.It is provided on flange 11 Multiple axial mounting hole 11a, these mounting holes 11a are used for mounting bracket assembly 20.

In one or more embodiments, it is preferable that the one end and 10 axis of wheel hub of flange 11 close to 10 axial end face of wheel hub It is greater than 1mm to the distance between end face, to form the space 12 for assembling bracket component a part, to avoid bracket component 20 After assembling with wheel hub 10, bracket component 20 protrudes into the axially external of 10 axial end face of wheel hub, if end cap is installed at the both ends of wheel hub, And then it can avoid bracket component 20 and interference generated to the assembly of end cap.The clearance space between two flanges 11 on wheel hub 10 13, form the space of assembly bracket component a part.

It is respectively fixed with end cap 40 at the both ends open of wheel hub 10, is provided in wheel hub 10 and drives the electronic of the hub rotation Driving mechanism, the both ends of electric driving mechanism are each passed through end cap and are supported on end cap.As shown in Fig. 4, Fig. 5 and Figure 12, electricity Dynamic driving mechanism includes axis 41, brshless DC motor 42, gear drive 43, and the inner wall of wheel hub 10 is equipped with gear ring, end Lid 40 is fixed on the axial end face of wheel hub 10, and pilot hole is equipped on the axial end face of wheel hub 10, and end cap 40 covers wheel hub 10 Axial end face on after, end cap and wheel hub 10 are fastened as a whole by screw.Brshless DC motor 42 is located inside wheel hub 10, After one end of axis 41 is passed through from the center of brshless DC motor 42, the both ends of axis 41 are respectively supported on end cap 40, gear drive Mechanism is set to the output end of brshless DC motor 42, and gear drive 43 is engaged with the gear ring on 10 inner wall of wheel hub.

In the patent of Publication No. CN204352052U, the prominent 2-3 and wheel hub 2-1 mono- of Y shape of the 2-2 of driven wheel is installed Body formed, these integrally formed structures will cause manufacture difficulty increase, and manufacturing cost increases.For in CN204352052U For patent, due to two neighboring Y type it is prominent between spacing be it is fixed, when installation, the both ends of driven wheel 2-2 are inserted respectively When entering in the through-hole being arranged to Y type nose portion, needing, which makes driven wheel 2-2 generate deformation quantity, just can be carried out assembly, such knot Not only installation difficulty is big for structure, and due to making driven wheel that deformation have occurred, the precision after leading to installation is reduced.Therefore, the utility model The mode of another installation roller 30 is provided, specific as follows:

At least two rows of rollers 30 along the wheel hub circumferentially are actively equipped on the circumference of wheel hub 10, roller 30 passes through The bracket component 20 being mounted on 10 circumference of wheel hub is supported.As shown in Fig. 4 to Figure 10, bracket component 20 is fixed on described convex On edge 11, bracket component 20 is equipped with the fitting groove 20a for accommodating the flange 11, and the flange 11 is inserted into the fitting groove After in 20a, bracket component 20 and flange are fastened as a whole by fastener, and fastener preferentially uses screw.

As shown in Figure 6 and Figure 7, in one or more embodiments, bracket component 20 is by discrete first support 21 and Two brackets 22 are fastened after closing up and are formed, first support 21 and second support 22 in a ring, first support 21 and second Frame 22 is respectively fitted on the wheel hub 10, and second support 22 is connected by screw to the mounting hole on flange 11, makes second support 22 are fastened as a whole with flange 11.

As shown in Figure 6 and Figure 7, since first support 21 and second support 22 are respectively fitted on the wheel hub 10, first Frame 21 is mounted at space 12, and second support 22 is mounted at clearance space 13, for the first support being mounted at space 12 , can be using the structure of whole annulus for 21, it can also be using the knot for forming an annulus after being combined by multiple arcs bracket Structure, in the present embodiment, first support 21 preferentially uses the circular ring structure of monoblock type.

As shown in Figure 6 and Figure 7, for the second support 22 being mounted at clearance space 13, by this present embodiment Flange 11 be two, in this way could be by therefore, it is necessary to which second support 21 to be arranged at least be made of two arc brackets Two brackets are mounted in clearance space 13, and each arc bracket preferentially uses the structure of semicircle, and certainly, arc bracket can not also It is semicircle, as long as the second support 22 that group circularizes after these arc bracket tandem arrays, for example, arc bracket is 3 When, the radian of each arc bracket is 120 degree, and when arc bracket is 2, the radian of one of arc bracket is less than 180 degree, And the radian of another arc bracket is greater than 180 degree.

As shown in Figure 6 and Figure 7, in the present embodiment, the flange 11 on the circumferential surface of wheel hub is two groups, on each group of flange 11 The bracket component 20, one end of the arc bracket in every pack support component 20 and the flange 11 for installing the bracket component are installed It supports, the other end of the arc bracket in every pack support component 20 is equipped with axially-extending portion 22a, wherein in a pack support component 20 Arc bracket axially-extending portion 22a and the axially-extending portion of the arc bracket in another pack support component mutually support with phase Mutually form axial limiting.It is arranged through this structure, has been mounted on second support 22 in clearance space 13, but also allows two One end of a second support 22 can carry out axial limiting by flange 11, and the other end of two second supports 22 is mutually limited Position, makes the stability of second support 22 more preferable after mounting.

As shown in Fig. 4 to Figure 10, multiple mounting bases for being parallel to wheel hub radial direction are evenly equipped on the circumferential surface of bracket component 20, often A mounting base is formed after closing up fastening by discrete the first mounting base 23 and the second dress seat 24, and the one of first mounting base 23 End is located on the circumference of first support 21, and one end of second mounting base 24 is located on the circumference of second support 22.First peace It fills seat 23 and first support 21 is integrally formed, the second mounting base 24 is integrally formed with second support 22, and the first mounting base 23 passes through Screw is fastened with the second mounting base 24, so that first support 21 be made to be fixed as one with second support 22.

As shown in Fig. 4 to Figure 10, each first mounting base 23 extends radially into first along first support 21 First step 25 is formed on the axial end face of frame 21, first step 25 not only increases the intensity of first support 21, moreover, each First step 25 preferentially forms a cricoid step with end to end state, and first support 21 is closed up to second support 22 When, after the axial end face of second support 22 is mutually supported with the axial end face of first step 25, in the axial end of first support 21 The fitting groove 20a is surrounded between face, the axial end face of second support 22 and first step 25.

As shown in Fig. 4 to Figure 10, universal wheel B in the utility model, in use, in addition to circumferentially rotated Outside, it can also be rotated to any other direction, therefore, the stress of universal wheel B is the active force of any direction.The utility model In, bracket component 20 is combined into one after manufacturing respectively with wheel hub 10, therefore, the intensity and straight forming of bracket component 20 Bracket component on wheel hub 10 is compared, and intensity will receive reduction, thus, in one or more embodiments, in order to increase branch The intensity of frame component 20 is equipped with floor 22b on axially-extending portion 22a, and one end of floor 22b and the second mounting base 24 are fixed, Floor 22b is connect with the axial end face of the second mounting base 24, in this way, when active force of the universal wheel B by non-circular circumferential direction, Put up a resistance under the supporting role of floor 22b to these active forces, can be broken to avoid the second mounting base 24.

First mounting base 23 and the second dress seat 24 are preferentially fastened using screw, the both ends difference of each first mounting base 23 Equipped with the first arc groove 23a being located on same circumference, the both ends of each second mounting base 24 are respectively equipped on same circumference The second arc groove 24a.The shape of roller 30 preferentially uses dolioform, and the end of roller 30 is placed in the second arc groove, and After one mounting base 23 closes up fastening to the second mounting base 24, the end of roller 30 is actively assembled to by the first mounting base 23 The first arc groove 23a and the second mounting base 24 on the circular hole that surrounds of the second arc groove 24 in.

Above-mentioned assembly method, when mounting bracket assembly 20 are first to fasten 22 flange 11 of second support, roller 30 End is placed in the second arc groove 24a, then first support 21 is closed up to second support 22, finally, again by the first mounting base It is fastened with the second mounting base, the end of final roller 30 is actively assembled to by the first arc in the first mounting base 23 In the circular hole that the second arc groove 24 on slot 23a and the second mounting base 24 surrounds.In this way, multiple rollers 30 are along bracket component 20 Circumferentially, roller 30 can be moved as wheel hub 10 is whole, and roller 30 can also carry out rotation in mounting base, with suitable Movement when any direction should be changed.

The radian of first arc groove 23a and the second arc groove 24a may each be 180, be also possible to: the first arc groove 23a Radian be less than 180 degree, and the radian of the second arc groove 24a be greater than 180 degree, it may also is that the radian of the first arc groove 23a is big In 180 degree, and the radian of the second arc groove 24a is less than 180 degree, and in brief, two radian sums, which are 360 degree, makes first Arc groove 23a and the second arc groove 24a close up to form circular hole.

The end of roller 30 is equipped with bearing 31, after the first mounting base 23 and the second mounting base 24 are closed up and are fastened, bearing 31 It is mounted to and is surrounded by the second arc groove 24a on the first arc groove 23a and the second mounting base 24 in the first mounting base 23 In circular hole.By installing bearing 31 at 30 both ends of roller, the frictional force between roller 30 and mounting base can be reduced, roller is made 30 is more flexible in rotation.

In the present embodiment, since the flange 11 on the circumferential surface of wheel hub is two groups, it is mounted on each group of flange 11 described Bracket component 20, the roller 30 in the mounting base of two pack support components 20 is in staggeredly complementary arrangement, interlaced complementary row It is arranged between the central point of the curved surfaces of three rollers 30 of column in isosceles triangle, same row's branch is located in three rollers Two rollers 30 in the mounting base of frame component 20 are located on the bottom edge of isosceles triangle.Here the installation of two pack support components 20 It is arranged between three rollers 30 of interlaced complementary arrangement in isosceles triangle on seat, the setting of the structure, which may make, to land What three rollers balanced simultaneously always is contacted with bottom surface, so that universal wheel B remains stable state in the process of running, if It is non-isosceles triangle arrangement between three rollers 30 of interlaced complementary arrangement in the mounting base of two pack support components 20, then Universal wheel B in the process of running then can be unstable, especially will appear the feelings only to land there are two roller when universal wheel B turns Shape, universal wheel B then can be uneven, if the universal wheel B of the utility model is applied on wheelchair, wheelchair also will appear slight It jolts, so that the people being sitting on wheelchair feels uncomfortable.

As shown in Fig. 4 to Figure 11, the outer tip end of the first mounting base 23 and the second dress seat 24 is in the circle concentric with wheel hub 10 Arcuation, the radius of circular arc are r, and the curved surfaces of dolioform roller 30 and the radius of wheel hub concentric circles are R1, the numerical value of r/R1 In 0.96~0.98 range.The numerical value of r/R1 is set in 0.96~0.98 range, the stability of universal wheel B, service life are best, If being less than the numberical range, bracket component 20 and mounting base are poor to the support force of roller 30, the stress of roller 30 itself It is bigger, it will affect the service life of roller；If more than the numberical range, although the support of bracket component 20 and mounting base to roller Power is good, but the ability that universal wheel B can be made to clear the jumps reduces, and bracket component 20 and mounting base will form resistance.

The universal wheel B of above structure is manufactured bracket component 20 is seperated with wheel hub 10, and it is difficult to advantageously reduce manufacture Degree can advantageously reduce manufacturing cost using different material manufacture wheel hubs 10 and bracket component 20 and mounting base, and Precision is easy to get control.Assembly when, the end of roller 30 is placed in the first arc groove 23a, the second mounting base 24 to After first mounting base 23 closes up fastening, the end of roller 30 is actively assembled to by the first arc groove in the first mounting base 23 In the circular hole that the second arc groove 24a on 23a and the second mounting base 24 is surrounded, such structure is not only in assembly 30 time-varying of roller It is simpler, and the deformation of roller 30 is avoided when assembly, the precision after making assembly is guaranteed.Therefore the ten thousand of this structure Be to wheel B advantage: product becomes more steady, long service life in use without eccentric moment.

As shown in Fig. 2, Fig. 3, Figure 13 and Figure 14, one end of shell 50 is symmetrically arranged with the support arm axially extending along the shell 51, assembly space 52 is formed between two support arms 51, after universal wheel B is entered in the assembly space 52 between two support arms, The both ends of electric driving mechanism are connect with support arm 51 respectively；The support arm 51 includes the support of ontology and setting on the body, The end of the axis 41 of electric driving mechanism is fixedly connected with support.The other end of shell 50 is used to be hinged on the rear portion of wheelchair, and ten thousand To wheel B under the effect of gravity with ground face contact.

As shown in figure 14, storage cavity 53 is equipped in shell 50, battery 54 is mounted in storage cavity 53；Shell 50 by Upper housing and lower case two parts composition, upper housing and lower case inside form cavity, and upper housing and lower case are fastened as a whole Afterwards, the contraction cavity 53 for installing battery 54 is formed between upper housing and lower case.To battery 54 and shell 50 And universal wheel B assembly is integral.

When not needing the rear power-assisted intelligent driver using the utility model in the lesser environment of some areas yet, such as Indoors or carriage personnel are without the use of rear power-assisted intelligent driver, and need the rear power-assisted intelligent driver and wheelchair It is separated, since battery 54 is assemblied in shell 50, the rear power-assisted intelligent driver from the wheelchair disassembled can To charge to battery 54, and battery does not have to be fixed on wheelchair, facilitates the weight for mitigating wheelchair in this way, thus Help to mitigate carriage personnel separately through the burden of manual mode driving wheelchair.Therefore, by battery 54 and shell 50 and Universal wheel B assembles integral advantage, can be to rear power-assisted intelligence after rear power-assisted intelligent driver is separated with wheelchair Driver charges, and mitigates the burden that carriage personnel manually drive wheelchair.

As shown in figure 14, controller 60 is located in shell 50 and be electrically connected with battery 54, the output end of controller 60 and Electric driving mechanism electrical connection.Can controller 60 controls electric driving mechanism according to the travel speed of wheelchair obtain required work Electric current is to provide auxiliary drive force to the wheelchair of traveling.

40 inner wall of end cap is equipped with multiple magnet steel (not shown)s, these magnet steel are evenly arranged on 40 inner wall of end cap On same circumference, the position of each magnet steel changes with the rotation of end cap, and the magnetic line of force that these magnet steel issue is for control Device is detected, for calculating the speed of universal wheel B.

As shown in figure 15, the controller 60 includes DC power supply 61, the Hall being mounted on electric driving mechanism detection The input voltage of battery 54 is converted to a variety of operating voltages, institute by module 62, processor 63, driver 64, DC power supply 61 Stating a variety of operating voltages is respectively 12V, 5V, 3.3V etc., these voltages are respectively for Hall detection module 62, processor 63, driving Device 64 uses when working.

When wheelchair is when static, carriage personnel or the personnel for pushing wheelchair to travel can give wheelchair manual force so as to take turns Chair traveling, rotates universal wheel B under the friction force with ground when manually to wheelchair travel speed, Hall detection module Multiple magnet steel on the end cap 40 of the universal wheel B of 62 pairs of rotations detect.For example, being evenly distributed with 18 magnet steel on end cap 40, often As soon as detecting a magnet steel, Hall detection module 62 generates a waveform, and Hall detection module 62 will be defeated after waveform progress shaping Processor 63 is arrived out.

The Hall detection module 62 includes the direction in detection magnet steel magnetic field for exporting different waveform signals to judge Universal wheel B is in Hall sensor forward or reverse, in this way, Hall sensor not only detects magnet steel, also to magnet steel Moving direction detected, device for processing judges that universal wheel B is that processing rotates forward or the state of reversion, and then obtains wheelchair It is in the state advanced or fallen back.Hall sensor is mounted on the stator of brshless DC motor, for Hall sensor For, be for opposite brshless DC motor 42 and wheel hub 10 and end cap 40 it is static, therefore, can be to being evenly arranged on end cap 40 On magnet steel detected.Hall detection module 62 further includes shaping circuit, the wave which obtains Hall sensor Shape is output to processor 63 after carrying out shaping.

It is universal to judge for exporting different waveform signals by the direction in detection magnet steel magnetic field for Hall sensor B is taken turns in mode forward or reverse, if it is (common that Hall sensor, which is mounted on the relationship on stator later between magnet steel, Mounting means): the length of Hall sensor and the high surface surrounded perpendicular to magnet steel the magnetic line of force (as shown in figure 17), then suddenly (the edge when waveform and reverse movement that are exported when your sensor detection magnet steel forward direction mobile (along the direction that universal wheel B is rotated forward) The counter-rotational direction universal wheel B) output waveform be consistent, therefore, this mounting means can not judge that each magnet steel is It moves or moves backward along forward direction.In the present embodiment, the pass after Hall sensor is mounted on stator between magnet steel System is: the width of the Hall sensor and the high surface surrounded are based on this perpendicular to the magnetic line of force (as shown in figure 18) of magnet steel Kind of mounting means, so that Hall sensor is when detecting the magnet steel on end cap 40 is positive mobile or reverse movement, Hall is passed The waveform exported when the waveform and reverse movement that export when sensor detection magnet steel is along positive move is inconsistent, therefore, processor 63 After obtaining such waveform, it can judge that current universal wheel B is the state in rotating forward or reversion, and then judge to take turns The driving direction of chair.According to the driving direction for obtaining wheelchair, if the traveling of current wheelchair is handled in the state retreated Device control electric driving mechanism rotates forward universal wheel B, to resist the active force of wheelchair rollback, due to personnel of the carriage on wheelchair Typically handicapped personnel, therefore, safety is most important for wheelchair, passes through above-mentioned detection wheelchair rollback When, so that universal wheel B is generated the mode for resisting the active force retreated, a direction increases the safety of wheelchair, on the other hand also makes The intelligence degree for obtaining wheelchair B is improved.

Processor 63 is a comprising microprocessor, program storage, data storage, timer, universal I/O port and can The singlechip chips such as PWM encoder are programmed, the external equipments such as motor are connected by peripheral circuit, power-assisted is driven after the completion of programming is coordinated The operation of dynamic system.

The detection signal that processor 63 is provided according to Hall detection module 62 calculates universal wheel B in the friction force Under revolving speed to obtain the current travel speed of wheelchair, and the threshold value being arranged in the revolving speed and processor is compared, root According to comparison result, the command signal of required operating current is provided to issue to electric driving mechanism.In order to ensure safety, work as wheelchair When static, even if rear power-assisted intelligent driver is in the state being powered, will not start immediately, but need carriage personnel or Wheelchair manual force can be given so that wheelchair traveling, power-assisted after determining according to the speed of traveling by pushing the personnel of wheelchair traveling Whether intelligent driver is started, and detects the travel speed of the wheelchair, is by Hall detection module 62 and processor 63 It completes, due to Hall detection module 62 detecting to magnet steel, processor 63 is according to (or the pulse of the waveform of acquisition Waveform) quantity, processor 63 can calculate the speed of current universal wheel B, so as to obtain the travel speed of wheelchair, will count The speed of the universal wheel B of calculation is compared with the threshold value being arranged in processor, if the speed that comparison result is universal wheel B is greater than place The threshold value being arranged in device is managed, then processor issues to electric driving mechanism and provides the command signal of required operating current, from then Power-assisted intelligent driver starting, to help carriage personnel to travel.Conversely, then without power-assisted intelligent driver after starting.

For example, the travel speed of wheelchair reaches 2.5Km/h, passes through Hall after the wheelchair under stationary state is moved by hand push Sensor detects the magnet steel on rotary end cover, and processor 63 obtains universal wheel with 2.5Km/h after obtaining detection signal Speed rotation, thus obtain current wheelchair travel speed be 2.5Km/h.Processor 63 is by the travel speed and is preset at this Threshold value in processor 63 is compared, and wherein threshold value is 2Km/h, and the speed that comparison result is universal wheel B is greater than in processor The threshold value of setting, processor 63 issues to electric driving mechanism and provides the command signal of required operating current, from then power-assisted intelligence Energy driver starting, to help carriage personnel to travel.

It is described that the travel speed of wheelchair operating current needed for meeting processor 63 and providing to electric driving mechanism is provided manually Command signal when, the travel speed current according to wheelchair of processor 63, from the multiple driving speeds being preset in the processor The middle one of driving speed of selection is to drive wheelchair.For example, the travel speed of current wheelchair is 2.5Km/h, place The reason selection of device 63 helps wheelchair to travel with the driving speed of 4Km/h；The travel speed of current wheelchair is 5Km/h, processor 63 Selection helps wheelchair to travel with the driving speed of 8Km/h.By different driving speeds, the difference of carriage personnel can satisfy Demand, while also improving the intelligence of rear power-assisted intelligent driver.

If comparison result is that the revolving speed is less than the threshold value being arranged in processor 63, processor 63 is issued to electric drive The command signal of operating current needed for mechanism is cut off.For example, the travel speed of current wheelchair is less than 2.5Km/h, then processor 63 It is sent to the command signal of operating current needed for cutting off to electric driving mechanism, electric driving mechanism cannot get driving current, electronic Driving mechanism cannot independently work.

Driver 64 receives the command signal from processor 63, and the direct current that DC power supply is exported is converted to essence The nonsinusoidal alternate current really controlled is supplied to electric driving mechanism, the non-sinusoidal alternating current, as rectangular wave.

The controller 60 further includes control switch, and control switch is used to control the on-off of power supply, and the control switch is Button switch or control switch are remote controler.The control switch is electrically connected with processor 63, and control switch is used for processing Device 63 issues the command signal of at least one limitation highest driving speed, it is preferable that and control switch can issue three command signals, One of them is the switching signal to power supply, and second is the first Maximum speed limit signal, and third is the second Maximum speed limit signal. There are three terminal pin, the respectively input pin different from three of controller connections for control switch tool.For example, stirring control switch When in the first Maximum speed limit position, control switch issues the command signal that highest driving speed is 5Km/h to processor 63, dials When dynamic control switch is in the second Maximum speed limit position, it is 8Km/h's that control switch, which issues highest driving speed to processor 63, Command signal, in this way, selection of personnel of the carriage on wheelchair by control switch, makes processor 63 receive corresponding control System instruction, by adjusting the size of output electric current, to control the speed of wheelchair.

It further include the attachment device 70 being connect with the rear upright bar of wheelchair installation rear-wheel as shown in Fig. 2 and Figure 16, shell 50 Universal wheel and ground face contact after the other end is articulated in attachment device 70.The attachment device 70 is telescopic attachment device, The attachment device 70 includes connecting rod, and the both ends of connecting rod are equipped with collet 71, and collet 71 is used to be clamped in the rear upright bar of wheelchair, The middle part of connecting rod is equipped with the hinge 72 of connection shell 50, and the connecting rod includes first connecting rod 73 and the second connecting rod 74, One end of first connecting rod 73 is equipped with axial mounting hole, and the circumferential surface of first connecting rod 73 is equipped with one end and penetrates into the installation One end of telescoping lock 75 in hole, the second connecting rod 74 is inserted into mounting hole, passes through telescoping lock 75 The length for being inserted into mounting hole to the second connecting rod 74 locks.Telescoping lock 75 preferentially uses screw.Pass through this The structure of sample can be adjusted the length of connecting rod, and the wheelchair to adapt to different in width and assembly or disassembly are also very It is convenient.The surface of collet 71 is equipped with cushion, for avoiding collet 71 from crushing the rear upright bar of wheelchair.Anchor ear can also be used in collet 71 Substitution.

The utility model is not limited to the above embodiment, for example, the end of roller 30 is placed in the first arc groove 23a, After second mounting base 24 closes up fastening to the first mounting base 23, the end of roller 30 is actively assembled to by the first mounting base 23 On the first arc groove 23a and the second mounting base 24 on the circular hole that surrounds of the second arc groove 24a in.This assembly method, peace It is first to fasten first support 21 and flange 11 when filling bracket component 20, the end of roller 30 is placed in the first arc groove In 23a, then second support 22 closed up to first support 21, finally, again fasten the first mounting base and the second mounting base, The end of final roller 30 is actively assembled to by the first arc groove 23a and the second mounting base 24 in the first mounting base 23 The circular hole that surrounds of the second arc groove 24 in.

It is equipped between two adjacent first mounting bases 23 and encloses the protection in the arcuation in 30 outside of roller along 21a, the protection edge 21a and first support 21 and the first mounting base 23 are integrally formed, and 30 rollers 2 and protection are equipped with gap between 5.

Claims (10)

1. power-assisted intelligent driver after a kind of, including universal wheel, which includes that both ends have opening and hollow wheel hub, wheel It is respectively fixed with end cap at the both ends open of hub, the electric driving mechanism for driving the hub rotation, electronic drive are provided in 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 on the circumference of wheel hub along the wheel The roller of hub circumferentially, which is characterized in that further include:

Shell, one end of shell are symmetrically arranged with the support arm axially extending along the shell, form assembly space between two support arms, After universal wheel enters in the assembly space between two support arms, the both ends of electric driving mechanism are connect with support arm respectively, shell The other end be used to be hinged on the rear portion of means of transport, universal wheel under the effect of gravity with ground face contact；

Battery, battery are arranged in shell；

Controller, controller are located in shell and are electrically connected with battery, and output end and the electric driving mechanism of controller are electrically connected It connects.

2. power-assisted intelligent driver after according to claim 1, which is characterized 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 auxiliary drive to the means of transport of traveling Firmly.

3. power-assisted intelligent driver after according to claim 2, which is characterized in that end cap inner wall is equipped with multiple magnetic Steel；

The controller includes:

The input voltage of battery is converted to a variety of operating voltages by DC power supply；

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

Processor calculates revolving speed of the universal wheel under the friction force according to the detection signal that Hall detection module provides To obtain the current travel speed of means of transport, and the threshold value being arranged in the revolving speed and processor is compared, if comparing As a result it is greater than or equal to the threshold value being arranged in processor for the revolving speed, then processor issues needed for electric driving mechanism offer The command signal of operating current；

Driver receives the command signal from processor, the direct current that DC power supply is exported, and is converted to non-sine exchange Electricity is supplied to electric driving mechanism.

4. power-assisted intelligent driver after according to claim 3, which is characterized in that if comparison result is that the revolving speed is less than The threshold value being arranged in processor, then processor issues the command signal that required operating current is cut off to electric driving mechanism.

5. power-assisted intelligent driver after according to claim 3, which is characterized 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 Hall sensor forward or reverse.

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

7. power-assisted intelligent driver after according to claim 4, which is characterized in that the traveling for giving means of transport manually When the command signal of speed operating current needed for meeting processor and providing to electric driving mechanism, processor is according to means of transport Current travel speed selects one of driving speed to fortune from the multiple driving speeds being preset in the processor Defeated tool is driven.

8. power-assisted intelligent driver after according to claim 4, which is characterized in that the controller further includes that control is opened It closes, the control switch is electrically connected with processor, and control switch is used to issue at least one limitation highest driving speed to processor The command signal of degree.

9. power-assisted intelligent driver after according to claim 8, which is characterized in that the control switch is button switch, Or control switch is remote controler.

10. power-assisted intelligent driver after according to claim 1, which is characterized in that further include after being installed with means of transport The attachment device of the rear upright bar connection of wheel, universal wheel and ground face contact after the other end of shell is articulated in attachment device.