自行走輪椅(全套含cad圖)

自行走輪椅(全套含cad圖),行走,輪椅,全套,cad 自動(dòng)走輪椅 學(xué)生姓名:梁 超 班級(jí):0681053指導(dǎo)老師:袁 坤 摘要:為實(shí)現(xiàn)高性能和低成本的自行走輪椅, 開發(fā)了全數(shù)字自行走輪椅控制器; 采用先進(jìn)的無(wú)速度傳感器測(cè)速技術(shù), 設(shè)計(jì)了帶電流補(bǔ)償?shù)碾妷贺?fù)反饋加負(fù)載不平衡補(bǔ)償?shù)碾p電機(jī)協(xié)調(diào)控制方案。驅(qū)動(dòng)部分采用有刷幅條電機(jī)的后輪驅(qū)動(dòng)。幅條電機(jī)傳動(dòng)具有轉(zhuǎn)矩大、噪音低、效率高、耗電少、壽命長(zhǎng)、綠色環(huán)保等優(yōu)點(diǎn)，克服了鏈傳動(dòng)噪聲大、沖擊大、傳動(dòng)不平穩(wěn)等缺點(diǎn)，且外觀新穎，控制部分采用采用平等四邊形連桿機(jī)構(gòu)，結(jié)構(gòu)簡(jiǎn)單，并實(shí)現(xiàn)了大角度的轉(zhuǎn)向控制和兩輪同步運(yùn)動(dòng)，同時(shí)增加輪椅在行進(jìn)中的穩(wěn)定性，而且起到防倒的功能，遇上下坡也能自主掌控，安全性高；制動(dòng)部分采用特制的漲剎機(jī)構(gòu)，達(dá)到前后手柄都可以制動(dòng)，安全性高。 給出了軟硬件結(jié)構(gòu)和單元電路的設(shè)計(jì)及參數(shù)選擇方法; 分析了操縱桿工作原理; 給出了輪椅速度和運(yùn)動(dòng)方向信息合成計(jì)算公式和提高運(yùn)行舒適度的S曲線生成策略。關(guān)鍵詞: 自行走輪椅; 控制器; 雙電機(jī); 協(xié)調(diào)控制; S曲線; 誤差檢測(cè)；幅條電機(jī)；連桿機(jī)構(gòu)；漲剎機(jī)構(gòu)；電動(dòng)控制；輔助裝置 指導(dǎo)老師簽名:Automatic walk a wheelchair Student name :Liang Chao Class: 0681053Supervisor: Yuan Kun Abstract: To achieve high performance and low cost to walk the wheelchair, developed by digital controller; walk wheelchairs, Using advanced speed sensorless speed technology, design with the current compensation voltage feedback and compensation of unbalanced load motor coordination control scheme. Driving part adopts a brush painting of the rear wheel drive motor. The picture has great torque motor drive, low noise, high efficiency, energy saving.longlife, green environmental protection etc, and overcome the impact noise, large chain drive not smooth, novel appearance and defects, and control part adopts USES equal quadrilateral linkage mechanism, simple structure, and realize the large Angle of steering control and two wheels, adding wheelchairs synchronous movement in the stability and travel, prevent fall function, meets the downhill can independently control, high security, Braking part adopts special rose, and brake to handle all can apply the brake, high safety.The hardware and software structure and given the unit circuit design and parameter selection method, The lever principle analysis, Given the speed and direction of movement wheelchair synthetic formulas and improve information generated the comfort of the S curve operation strategy. Key Words: EPW; Controller; Two2motor; Coordinated control; S curve; Fault detection；electromotive wheelchair；hand control；electric control；auxiliary unitSignature of Supervisor:畢業(yè)設(shè)計(jì)（論文）開題報(bào)告題 目 自行走輪椅設(shè)計(jì) 專 業(yè)班 級(jí)學(xué) 生指導(dǎo)教師 自動(dòng)走輪椅 摘要:為實(shí)現(xiàn)高性能和低成本的自行走輪椅, 開發(fā)了全數(shù)字自行走輪椅控制器; 采用先進(jìn)的無(wú)速度傳感器測(cè)速技術(shù), 設(shè)計(jì)了帶電流補(bǔ)償?shù)碾妷贺?fù)反饋加負(fù)載不平衡補(bǔ)償?shù)碾p電機(jī)協(xié)調(diào)控制方案。驅(qū)動(dòng)部分采用有刷幅條電機(jī)的后輪驅(qū)動(dòng)。幅條電機(jī)傳動(dòng)具有轉(zhuǎn)矩大、噪音低、效率高、耗電少、壽命長(zhǎng)、綠色環(huán)保等優(yōu)點(diǎn)，克服了鏈傳動(dòng)噪聲大、沖擊大、傳動(dòng)不平穩(wěn)等缺點(diǎn)，且外觀新穎，控制部分采用采用平等四邊形連桿機(jī)構(gòu)，結(jié)構(gòu)簡(jiǎn)單，并實(shí)現(xiàn)了大角度的轉(zhuǎn)向控制和兩輪同步運(yùn)動(dòng)，同時(shí)增加輪椅在行進(jìn)中的穩(wěn)定性，而且起到防倒的功能，遇上下坡也能自主掌控，安全性高；制動(dòng)部分采用特制的漲剎機(jī)構(gòu)，達(dá)到前后手柄都可以制動(dòng)，安全性高。 給出了軟硬件結(jié)構(gòu)和單元電路的設(shè)計(jì)及參數(shù)選擇方法; 分析了操縱桿工作原理; 給出了輪椅速度和運(yùn)動(dòng)方向信息合成計(jì)算公式和提高運(yùn)行舒適度的S曲線生成策略。關(guān)鍵詞: 自行走輪椅; 控制器; 雙電機(jī); 協(xié)調(diào)控制; S曲線; 誤差檢測(cè)；幅條電機(jī)；連桿機(jī)構(gòu)；漲剎機(jī)構(gòu)；電動(dòng)控制；輔助裝置 指導(dǎo)老師簽名:Automatic walk a wheelchair Abstract: To achieve high performance and low cost to walk the wheelchair, developed by digital controller; walk wheelchairs, Using advanced speed sensorless speed technology, design with the current compensation voltage feedback and compensation of unbalanced load motor coordination control scheme. Driving part adopts a brush painting of the rear wheel drive motor. The picture has great torque motor drive, low noise, high efficiency, energy saving.longlife, green environmental protection etc, and overcome the impact noise, large chain drive not smooth, novel appearance and defects, and control part adopts USES equal quadrilateral linkage mechanism, simple structure, and realize the large Angle of steering control and two wheels, adding wheelchairs synchronous movement in the stability and travel, prevent fall function, meets the downhill can independently control, high security, Braking part adopts special rose, and brake to handle all can apply the brake, high safety.The hardware and software structure and given the unit circuit design and parameter selection method, The lever principle analysis, Given the speed and direction of movement wheelchair synthetic formulas and improve information generated the comfort of the S curve operation strategy. Key Words: EPW; Controller; Two2motor; Coordinated control; S curve; Fault detection；electromotive wheelchair；hand control；electric control；auxiliary unitSignature of Supervisor:目 錄1 緒論 . 21.1 國(guó)內(nèi)外發(fā)展情況 . 41.2 設(shè)計(jì)內(nèi)容 .51.3 設(shè)計(jì)思路 .52 系統(tǒng)方案 .7 2.1 機(jī)械系統(tǒng)方案 .72.2 控制方案 .92.3 總體方案 .10 3 機(jī)械結(jié)構(gòu)計(jì) .113.1 鏈條的傳動(dòng)設(shè)計(jì) .113.2 電動(dòng)機(jī)的選用 .113.3 驅(qū)動(dòng)電路設(shè)計(jì) .124 控制系統(tǒng)設(shè)計(jì) .134.1 控制系統(tǒng)軟件設(shè)計(jì) .145 總結(jié) .145.1 設(shè)計(jì)總結(jié) . 145.2 展望 . 14參考文獻(xiàn) . 15 附錄 .18致謝 . 19 一、緒 論1.1 自行走輪椅國(guó)內(nèi)外發(fā)展情況隨著社會(huì)的發(fā)展和人類文明程度的提高，人們特別是殘疾人愈來(lái)愈需要運(yùn)用現(xiàn)代高新技術(shù)來(lái)改善他們的生活質(zhì)量和生活自由度。因?yàn)楦鞣N交通事故、天災(zāi)人禍和種種疾病，每年均有成千上萬(wàn)的人喪失一種或多種能力（如行走、動(dòng)手能力等）。隨著人口的增長(zhǎng)和醫(yī)療技術(shù)的進(jìn)步，社會(huì)老齡化問(wèn)題已成為很多國(guó)家不得不認(rèn)真對(duì)待的重要問(wèn)題之一。智能輪椅能夠幫助老年人和殘障人士獨(dú)立的生活，節(jié)省家庭護(hù)理費(fèi)用，減輕社會(huì)負(fù)擔(dān)。許多國(guó)家投入較多資金研究智能輪椅，涌現(xiàn)出許多成果，但由于價(jià)格和實(shí)用性的原因使它們暫時(shí)只能作為實(shí)驗(yàn)產(chǎn)品。智能輪椅作為移動(dòng)機(jī)器人的一種,主要用來(lái)輔助老年人和殘疾人的日常生活和工作,是對(duì)他們?nèi)趸臋C(jī)體功能的一種補(bǔ)償.智能輪椅在作為代步工具的同時(shí)又可以使用攜帶的機(jī)器手臂完成簡(jiǎn)單的日常活動(dòng).使他們重新獲得生活能力,找回自立、自尊的感覺,重新融入社會(huì).因而,智能輪椅的研究得到越來(lái)越多的關(guān)注 本設(shè)計(jì)的研究目標(biāo)：在最經(jīng)濟(jì)的條件下，設(shè)計(jì)出一件最實(shí)用、最簡(jiǎn)易操作的自行走輪椅，功能齊全、結(jié)構(gòu)簡(jiǎn)單、適用于傷殘人士、且能達(dá)到消費(fèi)者需求水準(zhǔn)的一件市場(chǎng)普及化產(chǎn)品。 主要特色：功能齊全、結(jié)構(gòu)簡(jiǎn)便、使用方便、價(jià)格適當(dāng)、安全系數(shù)強(qiáng) 電動(dòng)輪椅技術(shù)及其產(chǎn)業(yè)化 1產(chǎn)品特點(diǎn)電動(dòng)輪椅作為一種安裝有傳感器，具有良好的智能控制功能的電動(dòng)輪椅，不但具有普通的當(dāng)前市面上電動(dòng)輪椅所具有的所有功能，而且可以實(shí)現(xiàn)更加友好的人機(jī)接口和良好的操作性能。例如，可以實(shí)現(xiàn)避碰功能和導(dǎo)航功能，甚至可以實(shí)現(xiàn)利用無(wú)線方式將使用者的位置和基本狀態(tài)傳送給醫(yī)護(hù)人員和家人實(shí)現(xiàn)實(shí)時(shí)監(jiān)控。 國(guó)內(nèi)外研究現(xiàn)狀及發(fā)展趨勢(shì)（含文獻(xiàn)綜述）： 自動(dòng)輪椅作為醫(yī)療護(hù)理領(lǐng)域的服務(wù)機(jī)器人，其應(yīng)用大量使用了移動(dòng)機(jī)器人技術(shù)在自動(dòng)輪椅的研究中涉及到的關(guān)鍵技術(shù)有導(dǎo)航系統(tǒng)、控制和能源系統(tǒng)、人機(jī)接口 但由于整個(gè)輪椅系統(tǒng)以人為中心，所以在研究中要解決的核心是輪椅的安全導(dǎo)航問(wèn)題所謂導(dǎo)航即是指移動(dòng)機(jī)器人按照預(yù)先給定的任務(wù)命令，根據(jù)已知的地圖信息作出全局路徑規(guī)劃，并在行進(jìn)過(guò)程中，不斷感知周圍的局部環(huán)境信息，自主地作出各種決策，并隨時(shí)調(diào)整自身位姿，引導(dǎo)自身安全行駛到達(dá)目標(biāo)位置 智能輪椅作為醫(yī)療護(hù)理領(lǐng)域的服務(wù)機(jī)器人，其應(yīng)用大量使用了移動(dòng)機(jī)器人技術(shù)。在智能輪椅的研究中涉及到的關(guān)鍵技術(shù)有導(dǎo)航系統(tǒng)、控制和能源系統(tǒng)、人機(jī)接口，但由于整個(gè)輪椅系統(tǒng)以人為中心，所以在研究中要解決的核心是輪椅的安全導(dǎo)航問(wèn)題。所謂導(dǎo)航即是指移動(dòng)機(jī)器人按照預(yù)先給定的任務(wù)命令，根據(jù)已知的地圖信息作出全局路徑規(guī)劃，并在行進(jìn)過(guò)程中，不斷感知周圍的局部環(huán)境信息，自主地作出各種決策，并隨時(shí)調(diào)整自身位姿，引導(dǎo)自身安全行駛到達(dá)目標(biāo)位置。隨著社會(huì)的發(fā)展和人類文明程度的提高，人們特別是殘疾人愈來(lái)愈需要運(yùn)用現(xiàn)代高新技術(shù)來(lái)改善他們的生活質(zhì)量和生活自由度。因?yàn)楦鞣N交通事故、天災(zāi)人禍和種種疾病，每年均有成千上萬(wàn)的人喪失一種或多種能力（如行走、動(dòng)手能力等）。因此，對(duì)用于幫助殘障人行走的機(jī)器人輪椅的研究已逐漸成為熱點(diǎn)，如西班牙、意大利等國(guó)，中國(guó)科學(xué)院自動(dòng)化研究所也成功研制了一種具有視覺和口令導(dǎo)航功能并能與人進(jìn)行語(yǔ)音交互的智能輪椅。近幾年來(lái)我國(guó)輪椅車的生產(chǎn)近幾年有了較大的發(fā)展，據(jù)中商情報(bào)網(wǎng)監(jiān)測(cè)數(shù)據(jù)顯示，目前全國(guó)規(guī)模以上輪椅生產(chǎn)企業(yè)約有30多家企業(yè)，主要集中在東部及沿海發(fā)達(dá)地區(qū)，外商投資輪椅生產(chǎn)企業(yè)在中國(guó)輪椅行業(yè)占絕對(duì)領(lǐng)導(dǎo)地位。近年來(lái)隨著人口老齡化到來(lái)及我國(guó)殘疾人康復(fù)事業(yè)的發(fā)展，這為輪椅生產(chǎn)企業(yè)提供了良好的空間和廣闊的市場(chǎng)前景。3同國(guó)外產(chǎn)品的綜合比較技術(shù)水平方面：與國(guó)外相比國(guó)內(nèi)已經(jīng)基本上沒(méi)有差距，在某些方面甚至還具有一定優(yōu)勢(shì)。生產(chǎn)工藝方面：雖然與國(guó)外相比還有一定差距，但通過(guò)分析解剖國(guó)外產(chǎn)品特點(diǎn)，利用自身優(yōu)勢(shì)可以在較短時(shí)間內(nèi)縮小這種差距。研發(fā)和生產(chǎn)成本方面：與國(guó)外相比，國(guó)內(nèi)具有相當(dāng)大的優(yōu)勢(shì)。市場(chǎng)潛力方面：國(guó)內(nèi)電動(dòng)輪椅市場(chǎng)剛剛啟動(dòng)，尚沒(méi)有強(qiáng)有力的競(jìng)爭(zhēng)對(duì)手，市場(chǎng)潛力非常大。 4國(guó)內(nèi)現(xiàn)有企業(yè)情況介紹首先，國(guó)內(nèi)尚無(wú)具備智能輪椅生產(chǎn)的企業(yè)，現(xiàn)有的輪椅生產(chǎn)企業(yè)還主要定位在電動(dòng)輪椅的生產(chǎn)上。且由于國(guó)內(nèi)目前上不具備研制開發(fā)高性能電動(dòng)輪椅控制器的能力，國(guó)內(nèi)的生產(chǎn)企業(yè)的電動(dòng)輪椅產(chǎn)品基本上都采用了國(guó)外的電動(dòng)輪椅控制器，甚至部分企業(yè)的電動(dòng)驅(qū)動(dòng)總成也采用了外購(gòu)方式，因此國(guó)內(nèi)現(xiàn)有企業(yè)的產(chǎn)品成本居高不下，影響了市場(chǎng)購(gòu)買能力的形成。同時(shí)由于不得不采用價(jià)格昂貴的進(jìn)口控制器，國(guó)內(nèi)電動(dòng)輪椅產(chǎn)品的市場(chǎng)售價(jià)長(zhǎng)期以來(lái)居高不下，難以為普通用戶接受，也直接影響了電動(dòng)輪椅市場(chǎng)的啟動(dòng)。 5國(guó)家產(chǎn)業(yè)支持國(guó)家科技發(fā)展部門已經(jīng)看到智能輪椅產(chǎn)業(yè)的發(fā)展契機(jī)，已經(jīng)從國(guó)家的產(chǎn)業(yè)發(fā)展角度來(lái)對(duì)其未來(lái)的發(fā)展進(jìn)行支持。下圖是普通輪椅圖 下圖為設(shè)計(jì)的自行走輪椅產(chǎn)品圖1.2 設(shè)計(jì)內(nèi)容 本設(shè)計(jì)的是為殘疾人士和老年人設(shè)計(jì)一款自行走輪椅。 自行走輪椅作為老年人和殘疾人的代步工具,有著嚴(yán)格的技術(shù)要求。輪椅優(yōu)良的驅(qū)動(dòng)性能和嚴(yán)格的安全性保障是首要的技術(shù)要求。技術(shù)要求主要如下1. 基本驅(qū)動(dòng)功能 輪椅的模擬給定是由操縱桿發(fā)出的, 由速度檔位設(shè)置按鍵來(lái)設(shè)定輪椅最高和最低運(yùn)行速度。輪椅在起/制動(dòng)時(shí)必須平滑穩(wěn)定和安全。自行走輪椅對(duì)電機(jī)的起/制動(dòng)快速性沒(méi)有特殊要求, 但對(duì)機(jī)械特性有相對(duì)較高的要求。輪椅必須能夠至少爬行5的坡, 能夠在草地等比較糟糕的路況下運(yùn)行, 能夠在左/右驅(qū)動(dòng)輪處于不同路面時(shí)正常運(yùn)行。2.故障檢測(cè)及保護(hù)控制器應(yīng)能自動(dòng)進(jìn)行故障診斷、定位和報(bào)警,并對(duì)一些常見故障進(jìn)行顯示。當(dāng)輪椅運(yùn)行時(shí)如果檢測(cè)出故障, 系統(tǒng)能夠使輪椅安全停止并鎖定;當(dāng)輪椅靜止時(shí)出現(xiàn)故障, 系統(tǒng)應(yīng)能夠立即鎖定輪椅1.3 設(shè)計(jì)思路 本品設(shè)計(jì)的路線是在普通輪椅上增加電路和電動(dòng)機(jī)，用電能來(lái)取代手動(dòng)，從而使傷殘人士和老年人更方便使用輪椅。電機(jī)選擇的是Y160M1，連接電路來(lái)帶動(dòng)鏈條連接機(jī)構(gòu)。用單片機(jī)輸出、輸入信號(hào)，連接到輪椅扶手上的控制器，當(dāng)控制器給出命令的時(shí)候，單片機(jī)驅(qū)動(dòng)電路，再通過(guò)電機(jī)帶動(dòng)鏈條，使整個(gè)輪椅能運(yùn)動(dòng)起來(lái)。 本款自行走輪椅最快速度為10km/h,具備轉(zhuǎn)向、加速、減速、剎車功能。二、系統(tǒng)方案2.1 機(jī)械系統(tǒng)方案 圖1自行走輪椅運(yùn)動(dòng)控制系統(tǒng)示意圖 上圖1為輪椅運(yùn)動(dòng)控制系統(tǒng)組成?？梢? 自行走輪椅運(yùn)動(dòng)控制系統(tǒng)主要由操縱桿信號(hào)處理部分、電機(jī)控制部分和輪椅狀態(tài)檢測(cè)分組成。操縱桿輸出的信號(hào)經(jīng)過(guò)操縱桿信號(hào)處理部分后被合成為帶起/制動(dòng)S曲線和死區(qū)的輪椅的速度和方向給定值。這個(gè)給定值就是用戶給控制器的控制指令。電機(jī)控制部分接收用戶的指令和反饋信號(hào)來(lái)合成電機(jī)驅(qū)動(dòng)信號(hào)和其他控制信號(hào)。這部分是輪椅運(yùn)動(dòng)控制系統(tǒng)的核心部分。電機(jī)檢測(cè)部分檢測(cè)電機(jī)和控制器的工作狀態(tài)。這些檢測(cè)信號(hào)被用作電機(jī)的控制信號(hào)和其它部分的控制信號(hào)。1.1操縱桿輸出信號(hào)速度給定合成由于操縱桿輸出是二維的隨著位置變化而成比例變化的電壓信號(hào), 故非常適合用來(lái)控制自行走輪椅。用戶前后推動(dòng)操縱桿可以控制輪椅的運(yùn)行速度, 左/右推動(dòng)可以控制輪椅的轉(zhuǎn)向方向和轉(zhuǎn)向速度的大小。下面介紹怎樣把一個(gè)二維的操縱桿輸出信號(hào)轉(zhuǎn)換為速度和轉(zhuǎn)向控制指令。如果把操縱桿的信號(hào)看作是二維輸出信號(hào),分別在二維坐標(biāo)系中用X軸和Y軸表示 1 。 圖2操縱桿輸出信號(hào)矢量合成示意圖可以將X軸信號(hào)看作是輪椅的轉(zhuǎn)向速度給定信號(hào), 而Y軸信號(hào)則可以看作是輪椅的前向和后向速度給定信號(hào)。因此, 如果用戶想要轉(zhuǎn)向和前進(jìn),則可將輪椅的運(yùn)動(dòng)方向看作是X和Y的矢量合成,如圖2中所示F。而左/右電機(jī)的速度給定Sl 和Sr可從下式得出 2 : Sl =Cx Fx +Cy FySmax(1) Sr =- Cx Fx +Cy FySmax(2)其中, 設(shè)Smax為速度給定最大值, Cx代表輪椅的轉(zhuǎn)向速度特性, 而Cy 則代表輪椅在前向和反向的速度特性。如果以上公式的計(jì)算結(jié)果大于了輪椅最大轉(zhuǎn)向速度, 則用最大轉(zhuǎn)向速度代替計(jì)算結(jié)果。 圖3表示以不同角度旋轉(zhuǎn)操縱桿時(shí), 輪椅的左/右輪速度給定曲線。如果Sl 和Sr 的值都是正的, 則輪椅向前前進(jìn)轉(zhuǎn)向, 否則是后退轉(zhuǎn)向。當(dāng)輪椅向左轉(zhuǎn)時(shí), 右輪正向轉(zhuǎn)動(dòng), 左輪反向轉(zhuǎn)動(dòng)或保持不變; 相反, 當(dāng)輪椅向右轉(zhuǎn)時(shí), 左輪正向轉(zhuǎn)動(dòng), 右輪反向轉(zhuǎn)動(dòng)或保持不變。當(dāng)一個(gè)輪保持不轉(zhuǎn)動(dòng)而另外一個(gè)輪轉(zhuǎn)動(dòng)時(shí), 輪椅做原地360轉(zhuǎn)彎。 圖3以不同角度旋轉(zhuǎn)操縱桿時(shí)輪椅的左/右輪的速度曲線1.2速度給定的S曲線設(shè)計(jì)(1) 設(shè)計(jì)思路。S曲線本身是一個(gè)非線性函數(shù),其合成和編程都非常復(fù)雜。S曲線的形狀如圖4虛線所示。在輪椅起動(dòng)時(shí)應(yīng)該是一個(gè)拋物線形狀, 然后是輪椅的加速過(guò)程, 直至輪椅最大速度后, 加速度為零, 輪椅以恒定最大給定速度運(yùn)行; 制動(dòng)時(shí),輪椅先以直線的斜率減速, 最后在拋物線段舒緩地停止。本文用圖4中的一個(gè)折線近似地代替S曲線,用三段折線用來(lái)模擬拋物線。這使得編程非常簡(jiǎn)單,實(shí)踐證明, 控制效果非常理想。 圖4輪椅速度給定的S曲線示意圖(2) 實(shí)現(xiàn)方法。利用中斷時(shí)間和人體對(duì)加速度變化率的敏感特性來(lái)實(shí)現(xiàn)。根據(jù)人體對(duì)加速度和加速度變化率的敏感特性知, 當(dāng)加速度或減速度最大值不大于1.5 m / s2、平均加減速度不低于0.5 m / s2、加速度變化率小于1.5 m / s3 時(shí), 人體的舒適感比較好。設(shè)系統(tǒng)的中斷周期為T, 直線的斜率為K, 規(guī)定輪椅在t時(shí)間內(nèi)加速到速度給定最大值Smax , 則: K =Smaxt/T=SmaxtT (3)圖4中, 三段線段斜率比值為: K1 K2 K3 = 1 1.92 2.6。具體程序?qū)崿F(xiàn)見第四節(jié)。在本系統(tǒng)的設(shè)計(jì)中, K1、K2、K3 都被設(shè)置為可編程調(diào)節(jié)參數(shù),用戶可以根據(jù)自己的舒適性要求來(lái)進(jìn)行相應(yīng)調(diào)整。2.2 控制方案設(shè)計(jì)對(duì)調(diào)速系統(tǒng)來(lái)說(shuō), 用轉(zhuǎn)速負(fù)反饋可以獲得比較滿意的靜、動(dòng)態(tài)性能。但是, 在本文的自行走輪椅運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)中要實(shí)現(xiàn)轉(zhuǎn)速負(fù)反饋是非常困難的, 因?yàn)闊o(wú)法安裝轉(zhuǎn)速檢測(cè)裝置。故在設(shè)計(jì)中采用電壓負(fù)反饋和電流補(bǔ)償?shù)目刂品椒?3 。如果忽略電樞壓降, 則直流電動(dòng)機(jī)的轉(zhuǎn)速近似與電樞兩端電壓成正比, 所以電壓負(fù)反饋基本上能夠代替轉(zhuǎn)速負(fù)反饋的作用。采用電壓負(fù)反饋和電流補(bǔ)償控制的調(diào)速系統(tǒng)原理圖如圖5所示 圖5電壓負(fù)反饋和電流補(bǔ)償控制的調(diào)速系統(tǒng)原理圖其中, V +、V - 分別為電動(dòng)機(jī)兩端的電壓。它們同時(shí)被送入DSP 的AD采樣通道中, 在軟件中對(duì)V +、V - 進(jìn)行差分得到電機(jī)兩端的電壓。這樣可以消除由于電源電壓波動(dòng)等因素引起的電機(jī)端電壓的誤差。R1、R2 是采樣電阻, 之所以有兩個(gè)采樣電阻, 是因?yàn)槲闹兴懻摰碾妱?dòng)輪椅控制系統(tǒng)采用雙極性模式, 可在四象限運(yùn)行。由如圖5所示的H橋可知, R2、R1可分別檢測(cè)電機(jī)的正反向電流。對(duì)應(yīng)的系統(tǒng)控制方框圖如圖6所示。2.3 總體方案：在多次觀察了普通輪椅之后，發(fā)現(xiàn)在普通輪椅的座位底部安裝雙電動(dòng)機(jī)，然后把鏈條安裝在雙電動(dòng)機(jī)的連桿上，利用單片機(jī)來(lái)輸出、輸入信號(hào)，在單片機(jī)和雙電動(dòng)機(jī)的電路連接下，使整個(gè)設(shè)計(jì)機(jī)構(gòu)有一個(gè)完整的回路。從而實(shí)現(xiàn)這款自行走輪椅的運(yùn)行。整個(gè)設(shè)計(jì)思路其實(shí)比較是簡(jiǎn)單的，在安裝了設(shè)計(jì)電路后，通過(guò)電動(dòng)機(jī)做功來(lái)帶動(dòng)鏈條傳動(dòng)，來(lái)實(shí)現(xiàn)自行走輪椅行走、加速、減速、剎車的各項(xiàng)功能。三、機(jī)械結(jié)構(gòu)設(shè)計(jì)3.1 鏈條傳動(dòng)設(shè)計(jì)雙電機(jī)組合帶動(dòng)鏈條，以電動(dòng)機(jī)產(chǎn)生動(dòng)力，電帶動(dòng)電動(dòng)機(jī)上的桿和錐齒輪，通過(guò)鏈條的連接機(jī)構(gòu)，而帶動(dòng)車輪連桿上的鏈輪，這樣形成一個(gè)整體機(jī)構(gòu)過(guò)程。開啟電源后，當(dāng)控制器發(fā)出運(yùn)行命令時(shí)，信號(hào)通過(guò)單片機(jī)電路與電動(dòng)機(jī)連接，電動(dòng)機(jī)開始啟動(dòng)，通過(guò)鏈條的傳動(dòng)，帶動(dòng)車輪向前或者向后行駛。3.2 電動(dòng)機(jī)的選用 本設(shè)計(jì)用的是雙電機(jī)組合，所以在選擇電動(dòng)機(jī)時(shí)，依照自行走輪椅運(yùn)行時(shí)最大速度10km/h，來(lái)選擇電動(dòng)機(jī)。 = =選擇的電動(dòng)機(jī)是Y160M1 電動(dòng)機(jī)轉(zhuǎn)速720車輪的轉(zhuǎn)速：則： 實(shí)際功率：傳動(dòng)比： 3.3 驅(qū)動(dòng)電路設(shè)計(jì) 在本設(shè)計(jì)系統(tǒng)中，選用的是ST公司的L298N電機(jī)專用驅(qū)動(dòng)芯片。該芯片的主要特點(diǎn)是：工作電壓高，最高工作電壓可達(dá)46V；輸出電流大，瞬間峰值電流可達(dá)3A，持續(xù)工作電流為2A；內(nèi)含兩個(gè)H橋的高電壓大電流全橋式驅(qū)動(dòng)器，可以用來(lái)驅(qū)動(dòng)直流電動(dòng)機(jī)和步進(jìn)電動(dòng)機(jī)、繼電器、線圈等感性負(fù)載；采用標(biāo)準(zhǔn)邏輯電平信號(hào)控制；具有兩個(gè)使能控制端，在不受輸入信號(hào)影響的情況下允許或禁止器件工作有一個(gè)邏輯電源輸入端，使內(nèi)部邏輯電路部分在低電壓下工作；可以外接檢測(cè)電阻，將變化量反饋給控制電路。圖中電源和地之間接入了去耦電容，在電機(jī)線圈兩端分別接入二極管進(jìn)行過(guò)流保護(hù)。四、控制系統(tǒng)設(shè)計(jì)4.1 控制系統(tǒng)軟件設(shè)計(jì) 輪椅運(yùn)動(dòng)控制系統(tǒng)總的流程如圖7所示。本文設(shè)計(jì)的輪椅控制系統(tǒng)是純數(shù)字化控制。系統(tǒng)軟件采用匯編語(yǔ)言編寫, 代碼運(yùn)行效率高; 采用模塊化的程序設(shè)計(jì)方法, 各功能模塊之間除接口變量外互相獨(dú)立。 圖7輪椅運(yùn)動(dòng)控制系統(tǒng)總程序流程圖五、總結(jié)5.1 設(shè)計(jì)總結(jié) 本文以自行走輪椅運(yùn)動(dòng)控制為背景,依據(jù)系統(tǒng)控制方案編制了相應(yīng)的控制軟件, 軟件模塊化并考慮了參數(shù)修改和運(yùn)行狀態(tài)顯示等功能。經(jīng)調(diào)試和試運(yùn)行, 技術(shù)指標(biāo)達(dá)到了預(yù)期要求。從考慮人的舒適性和可靠性出發(fā), 提出了基于電壓檢測(cè)的功率管故障及主電路故障判斷、定位的實(shí)施方案, 并給出了速度給定S曲線計(jì)算公式和軟件編程算法。運(yùn)行效果良好。操縱桿是輪椅運(yùn)動(dòng)速度方向和大小的給定裝置。 通過(guò)分析其原理導(dǎo)出了計(jì)算公式, 并通過(guò)軟件實(shí)現(xiàn)取得了良好效果。總之, 本文完成了輪椅運(yùn)動(dòng)控制器設(shè)計(jì)、調(diào)試和試運(yùn)行, 各項(xiàng)指標(biāo)均達(dá)到了預(yù)期目標(biāo), 驗(yàn)證了硬、軟件方案正確性及可行性。 本文的項(xiàng)目設(shè)計(jì)以國(guó)家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃)先進(jìn)制造技術(shù)領(lǐng)域“服務(wù)機(jī)器人”重點(diǎn)項(xiàng)目2006年度課題申請(qǐng)指南中課題l智能輪椅關(guān)鍵技術(shù)、單元部件及目標(biāo)產(chǎn)品的研發(fā)的主要考核指標(biāo)為參考技術(shù)標(biāo)準(zhǔn)，目標(biāo)是構(gòu)建一個(gè)為老年人和殘疾人服務(wù)的自行走輪椅。 從自行走輪椅功能的角度對(duì)輪椅的硬件系統(tǒng)進(jìn)行模塊化設(shè)計(jì)，將自行走輪椅分為機(jī)械結(jié)構(gòu)、驅(qū)動(dòng)、控制三部分。重點(diǎn)介紹了自行走輪椅控制系統(tǒng)，最主要的是設(shè)計(jì)了DA轉(zhuǎn)換平臺(tái)，成功接管了智能輪椅核心控制器。利用控制器，成功實(shí)現(xiàn)自行走控制系統(tǒng)。在設(shè)計(jì)電路控制器的工作，讓單片機(jī)開發(fā)板通過(guò)程序直接控制輪椅運(yùn)動(dòng)。5.2 展望 如前所述，本課題設(shè)計(jì)自行走輪椅控制系統(tǒng)，基本達(dá)到了實(shí)用性的要求。但由于多方面的原因，該系統(tǒng)需要進(jìn)一步的改進(jìn)與完善，還存在著很多不足。 在采用輪椅控制器控制電機(jī)時(shí)沒(méi)有加入測(cè)速環(huán)節(jié)構(gòu)成閉環(huán)反饋控制系統(tǒng)。由于每個(gè)用戶的體重不同，且輪椅行駛的路面情況不同，根據(jù)直流電機(jī)負(fù)載特性曲線可知，輪椅的實(shí)際電機(jī)轉(zhuǎn)速將會(huì)與設(shè)定值不同，這在實(shí)際應(yīng)用中是不應(yīng)該出現(xiàn)的，雖然在短時(shí)間內(nèi)實(shí)現(xiàn)了低成本的控制，仍然無(wú)法達(dá)到最智能的效果。缺乏機(jī)器視覺技術(shù)的應(yīng)用。本項(xiàng)目中圖像傳感器僅應(yīng)用于路徑跟蹤，沒(méi)有開發(fā)復(fù)雜的圖像處理與識(shí)別算法，且此處僅適用于跟蹤白色路面上的黑色路標(biāo)，使用場(chǎng)合有限。應(yīng)用先進(jìn)的機(jī)器視覺技術(shù)能夠大大提高輪椅的自主性和智能化。61參考文獻(xiàn)1J. 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h ;額定電壓 ， V;裝備數(shù)量 ，個(gè) 。A2.3 充電器:電源,V,Hz;輸 出電 壓 ， V;最 大 輸 出 電 流 ，A 0A2.4 調(diào)速器:最大輸出電流，A;連 續(xù) 工 作 電 流 ,A 0A2.5 速度調(diào)節(jié)方式:分級(jí)變速;無(wú) 級(jí) 變 速 。A2.6 電壓指示，V0A3 主要技術(shù)性能參數(shù)A3.1 最大速度，km/hA3.2 制動(dòng)性能，m0A3.3 爬坡能力，(。)。A3.4 耗電量,kW h/100 km.A3.5 縱向穩(wěn)定性，(。)。A3.6 側(cè)向穩(wěn)定性，(0)附錄說(shuō)明：本標(biāo)準(zhǔn)由中華人民共和國(guó)民政部提出。本標(biāo)準(zhǔn)由全國(guó)殘疾人康復(fù)和專用設(shè)備標(biāo)準(zhǔn)化技術(shù)委員會(huì)歸口。本標(biāo)準(zhǔn)由民政部北京假肢科學(xué)研究所、上海輪椅車廠、河北省假肢廠和浙江省(IQ肢廠負(fù)責(zé)起草。致謝 通過(guò)了近兩個(gè)月的時(shí)間，我們了解到了很多關(guān)于機(jī)構(gòu)類設(shè)計(jì)的知識(shí)，本論文是在導(dǎo)師袁坤副教授的悉心指導(dǎo)下完成的。從論文的選題到每一個(gè)階段性成果，再到畢業(yè)論文的最后形成無(wú)不凝聚著袁老師的悉心指導(dǎo)和親切關(guān)懷。袁老師忘我的工作精神，嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度，淵博的學(xué)識(shí)，給我留下了深刻的印象，使我終生受益。謹(jǐn)在論文完成之際，向袁老師表示衷心的感謝和崇高的敬意! 感謝本組的每一位同學(xué)，在畢業(yè)設(shè)計(jì)工作中的真誠(chéng)協(xié)助與交流及生活上給予的諸多幫助。感謝機(jī)電分院的眾位老師對(duì)我的辛勤指導(dǎo)，是你們的悉心教誨讓我在大學(xué)期間不僅學(xué)到很多理論上的知識(shí)，也讓我懂得了很多的人生哲理。衷心感謝所有關(guān)心、支持和幫助過(guò)我的老師、同學(xué)和朋友們! 最后，謹(jǐn)向百忙之中抽出寶貴時(shí)間評(píng)審本論文的各位專家致以誠(chéng)摯的謝意!21畢業(yè)設(shè)計(jì)（論文）題 目 自行走輪椅設(shè)計(jì) 專 業(yè)班 級(jí)學(xué) 生指導(dǎo)教師 輔助站立輪椅 （文獻(xiàn)翻譯) 16 輔助輪椅的設(shè)計(jì)美國(guó)專利4519649 摘要:輪椅改良設(shè)計(jì)使在身體支撐于一個(gè)主框架上，可以使坐姿改變而無(wú)需使用外部的升降力達(dá)到獨(dú)立的站立姿態(tài)。輪椅包括配套驅(qū)動(dòng)輪、輔助輪和機(jī)構(gòu)的支撐，腰部支撐部件和靠背部件彼此形成的主結(jié)構(gòu)。前部的主結(jié)構(gòu)和腰部支撐部件的尖端部分設(shè)一個(gè)支點(diǎn)，并擴(kuò)展部件的支撐與支撐腰部支撐的部件，作為支撐點(diǎn)之間的中間點(diǎn)的主要結(jié)構(gòu)和腰部支點(diǎn)支撐部件。依靠推輪椅使用者的力量（身體抬起，使用者通過(guò)他或她的上肢的力量）和擴(kuò)展的力量。1 輪椅的各部件: 1.一個(gè)主框架配套驅(qū)動(dòng)輪和輔助輪;身體的支撐框架包括下肢軸互聯(lián)支撐構(gòu)件，腰部支撐構(gòu)件和靠背的構(gòu)件，該主結(jié)構(gòu)的身體支撐架被作為獨(dú)立的結(jié)構(gòu)組成，前端部分的腰部支撐構(gòu)件是身體支撐架軸連接前端部分支點(diǎn)的主體。裝有氣彈簧的一端，氣彈簧的軸連接到主體上，并在其另一端連接軸及其活塞桿腰部支撐部件和架等機(jī)構(gòu)的支撐，擴(kuò)展和回縮氣彈簧的原因，腰部支撐構(gòu)件旋轉(zhuǎn)支點(diǎn)主體。鎖定在可操作的連接，空氣為鎖定彈簧的氣體在任意位置之間的全面伸長(zhǎng)和一個(gè)完全縮回的位置，以便恢復(fù)彈簧在腰部規(guī)定的角度范圍內(nèi)任意角度與水平方面的支撐構(gòu)件其旋轉(zhuǎn)的支點(diǎn)方法，充分伸長(zhǎng)，氣彈簧相應(yīng)的座位和站立身體支撐架所述位置，分別表示完全縮回的位置。 2. 其中一個(gè)要求1中所示的輪椅，表示鎖定方式包括閥門彈簧接收機(jī)構(gòu)，氣彈簧的操作桿。安裝一個(gè)可操作的雙節(jié)點(diǎn)支撐，操作線進(jìn)行閥門操作桿表示閥門的連接操作桿，其緊握操作桿，從而允許伸長(zhǎng)和收縮的氣彈簧，而釋放操作桿引起鎖定氣彈簧，以免伸長(zhǎng)或收縮。3.要求1中所示的輪椅，其中腰部支撐構(gòu)件連接下肢支持構(gòu)件，通過(guò)鏈接機(jī)制。 4.主框架作為3定義輪椅，其中鏈接機(jī)制，腰部支撐的構(gòu)件，其余構(gòu)件包括一個(gè)平行四邊形的4桿的鏈接。5.作為3定義輪椅，鏈接機(jī)制，腰部支撐的構(gòu)件，下肢支撐構(gòu)件包括有一個(gè)任意長(zhǎng)度的4桿的鏈接機(jī)制。2 說(shuō)明： 2.1背景 本發(fā)明涉及到了輪椅，這使得它可以與一個(gè)極其有限的或沒(méi)有的功能相結(jié)合，如截癱下肢殘疾人從坐姿改變他或她的姿勢(shì)，以獨(dú)立的姿態(tài)，使用其她推力（升殘疾人身體由他或她的上肢動(dòng)作），他或她每天練習(xí)，它的動(dòng)力無(wú)需使用任何外部電源。輪椅是一種所需的覆蓋范圍大幅走相同的議案，并可以作為一種短距離的運(yùn)輸車輛的車輛。因此，輪椅必須有一個(gè)全功能作為日常儀器，運(yùn)動(dòng)功能。這使得它可以為殘疾人開展工作所使用的輪椅。不過(guò)，按照的傳統(tǒng)輪椅，輪椅的使用者只可以做固定的姿勢(shì)工作，但能不能做到可以站立的姿勢(shì)時(shí)的工作，因?yàn)樗蛩氖挚赡懿荒苓_(dá)到很高的位置。近年來(lái)，輪椅使用外接電源（如電機(jī)驅(qū)動(dòng)器使用電池作為動(dòng)力源）為一個(gè)獨(dú)立的機(jī)制已經(jīng)提出了一個(gè)輪椅，這使用戶可以獨(dú)立以站姿的姿態(tài)下工作。然而，這種輪椅涉及的收費(fèi)工作和維護(hù)復(fù)雜的缺點(diǎn)，增加輪椅的重量和輪椅本身有限的多功能性是極其昂貴的。 2.2相關(guān)的圖紙 FIG. 1是一個(gè)側(cè)視圖。根據(jù)本發(fā)明的一個(gè)實(shí)例中的輪椅; FIG. 2圖1的后視圖 FIG. 3 是一個(gè)透視圖顯示的狀態(tài)，其中一個(gè)被用來(lái)作為一個(gè)擴(kuò)展部件的氣彈簧;FIG. 4 是一個(gè)圖表，顯示的座位角度（站立的角度）和應(yīng)用于座椅和腳踏板的負(fù)荷之間的關(guān)系3 優(yōu)選實(shí)施的案例：在圖1和圖2，參考圖1代表一個(gè)主體，支撐驅(qū)動(dòng)2和第3輪輔助輪。肘支撐4個(gè)固定上部的主構(gòu)件，每邊1個(gè)。參考5代表身體支撐架肢體較低的支撐部件6，腰部支撐構(gòu)件7和8靠背構(gòu)件組成。這些構(gòu)件是連接相鄰部件彼此之間的相對(duì)回轉(zhuǎn)的方式。一個(gè)腳踏板和著地部件10是固定的低端下肢的支撐構(gòu)件6。 7腰部支撐構(gòu)件的尖端是彎曲的并且弓狀形式和一個(gè)支架11固定弓狀部分，其安裝前部的主框架由一個(gè)支點(diǎn)12 和1?？勘硺?gòu)件8，腰部支撐構(gòu)件7和下肢支撐構(gòu)件6連接兩個(gè)4桿的鏈接到另一個(gè)獨(dú)立的機(jī)構(gòu)，包括身體支撐架5。在這些鏈接，靠背8部件和腰部支撐部件7環(huán)節(jié)是連接A和B的支點(diǎn)12 1 4桿的平行四邊形鏈接，并鏈接腰部支撐構(gòu)件7和下肢的支撐構(gòu)件6是一個(gè)4桿的鏈路連接的部件，6，7和鏈接C至支點(diǎn)12之間的聯(lián)合，并可能有一個(gè)任意的或可選的長(zhǎng)度。這兩個(gè)鏈接機(jī)制是安裝在主體1。一個(gè)氣彈簧作為一個(gè)升縮的部件13中間之間的主體1和腰部支撐構(gòu)件7收縮的彈簧13支撐，可以提高和支持點(diǎn)作為支點(diǎn)12腰部支撐構(gòu)件7 。這氣彈簧是一種利用高壓氣體密封在缸14如圖壓力的一個(gè)彈簧。 部件3啟動(dòng)，并在任意位置停止，活塞和氣缸內(nèi)的活塞連接到一桿15。一個(gè)氣彈簧接收機(jī)構(gòu)16安裝到主體1，而15桿裝有腰部支撐構(gòu)件7。操作一個(gè)閥門的操作按鈕17（以下簡(jiǎn)稱為“鎖定按鈕”），可以通過(guò)遠(yuǎn)程控制操作桿18安裝到手肘支撐成員4。在圖紙上，參考數(shù)字19代表的操作線20是一個(gè)閥門操作桿。當(dāng)操作桿18啟動(dòng)，閥門操作桿20和17閥門的操作按鈕被啟動(dòng)箭頭指示的方向和釋放鎖氣彈簧13。握操作桿18時(shí)被釋放，另一方面，閥操作桿20和17閥門的操作按鈕啟動(dòng)以相反的方向鎖定，即氣彈簧13。在輪椅上，動(dòng)力依靠推輪椅的用戶（推高了用戶的上肢身體力量）和反應(yīng)氣彈簧的力量。用戶可以通過(guò)使用這兩種力的獨(dú)立姿態(tài)。的使用方式如下。輪椅上站起來(lái)，需要先剎車，膝蓋和腰部使用者的身體會(huì)被牢牢地固定皮帶輪椅。準(zhǔn)備完成后，安裝操作桿18肘支撐構(gòu)件4可啟動(dòng)，氣彈簧17鎖定按鈕被壓下，以便打開氣彈簧鎖。在氣彈簧的鎖被釋放的階段，開始動(dòng)作。在這種情況下，用戶把他或她的手的手肘支撐件4，然后推動(dòng)機(jī)構(gòu)，以減少他或她的體重經(jīng)座位15桿氣彈簧，這樣延伸，使氣體反應(yīng)的座位輪椅開始提升。用戶在待機(jī)期間，18桿處在一個(gè)理想的高度，以消除鎖定按鈕17的推力和鎖定氣彈簧。因此，可以固定在那個(gè)位置的座位。要返回從站立的姿勢(shì)到坐姿，首先鎖定氣彈簧被釋放的18桿，并同時(shí)抓住肘部支撐件4用戶會(huì)降低他或她的身體，以能夠使引導(dǎo)他她的體重的座位上。在這種情況下，用戶的重量，克服了氣體反應(yīng)和桿氣彈簧的合力，這樣的座位開始緩慢降低。在這種情況下，用戶可以固定在所需的位置鎖定氣彈簧座椅。以上所述，站立時(shí)腰部支撐構(gòu)件的最大角度相對(duì)水平面為75度，其角度可以很容易地設(shè)置用戶所需的任何值。在站立的的靠背部件8角度可始終保持不變，使鏈接8構(gòu)件和腰部支撐成員7的平行四邊形的4桿的水平。下肢支持成員6部分可以逐步擴(kuò)展方面的腰部支撐構(gòu)件按7，以便它可以對(duì)應(yīng)的伸長(zhǎng)與他或她的膝關(guān)節(jié)他或她的膝蓋以下的部分用戶在伸長(zhǎng)的位置行動(dòng)。這個(gè)伸長(zhǎng)的實(shí)現(xiàn)，因?yàn)橛幸粋€(gè)任意長(zhǎng)度的4桿鏈接腰部支撐部件7和下肢的支撐構(gòu)件6的鏈接。在以上所述的闡述中，延伸的數(shù)量是50毫米，最大的站立，但值可以適當(dāng)調(diào)整，根據(jù)用戶的愿望。俯臥的支撐是站立時(shí)必要，直到腰部支撐部件7變?yōu)橄鄬?duì)水平面的30，但超過(guò)30時(shí)，站立只能由氣彈簧的力量來(lái)完成。其他各種調(diào)整，可根據(jù)用戶的重量，通過(guò)適當(dāng)調(diào)整氣彈簧的反應(yīng)，此外，氣彈簧，可輕松更換。圖4底角（獨(dú)立角度的腰部支撐構(gòu)件7）和負(fù)載之間的關(guān)系是一個(gè)圖表，顯示一個(gè)座位和座位之間的角度和負(fù)載B腳踏板9。橫坐標(biāo)代表的座位角（度），縱負(fù)荷（kgf）。從圖中可以明顯的看出，主要承擔(dān)用戶的重量座位時(shí)的角度小，是由腳踏板和座椅時(shí)的角度是較大的承載。因此，用戶可以不施加過(guò)多的力量需要保持坐姿或站立的姿勢(shì)。此外，部分是因?yàn)轶w重的載荷，甚至在座位的最高站立時(shí)，用戶可以放心對(duì)背部，并順利的工作在站立姿勢(shì)。雖然是固定的腳踏板和著地部件10下肢支撐構(gòu)件在上述體現(xiàn)6中，用戶可以移動(dòng)，同時(shí)保持獨(dú)立的姿態(tài)，如果還裝有小輪子的輪椅。驅(qū)動(dòng)輪也可能是其操作開關(guān)的電動(dòng)型，安裝操作方便輪椅手肘支撐。雖然是不可折疊的輪椅但它可以改變一個(gè)可折疊的類型納入一個(gè)折疊的機(jī)制。按照本發(fā)明，身體支撐架由下肢支撐構(gòu)件，腰部支撐構(gòu)件和靠背機(jī)構(gòu)8驅(qū)動(dòng)伸長(zhǎng)部件的鏈接機(jī)制的巧妙結(jié)合。因此，輪椅使用者可以很容易地從坐姿改變到一個(gè)獨(dú)立站立的位置，反之亦然。即使當(dāng)用戶承擔(dān)獨(dú)立的姿態(tài)，他或她可以支持身體的支撐框架，使他或她能夠順利地開展工作在獨(dú)立的站姿姿態(tài)。由于用戶可以利用和保持獨(dú)立的姿態(tài)，褥瘡和殘疾人關(guān)節(jié)攣縮與很少或沒(méi)有下肢的功能是可以預(yù)防的。伸縮機(jī)構(gòu)的氣彈簧的使用，使得其持續(xù)并順利地從坐姿改變身體的位置姿態(tài)，反之亦然?？梢栽O(shè)置其位置，并固定在所需的姿態(tài)，更可以使用戶在沒(méi)有任何幫助的情況下的姿勢(shì)轉(zhuǎn)變。此外，從坐姿轉(zhuǎn)移到獨(dú)立的姿態(tài)，反之亦然，因?yàn)槭謩?dòng)都可以生效，本發(fā)明的輪椅操作簡(jiǎn)便，并能消除用戶反復(fù)使用和保養(yǎng)所造成可能的危險(xiǎn)。 .WheelchairUnited States Patent 4519649 Abstract:A wheelchair is disclosed in which a body support frame pivoted to a main frame can move from a seated posture to a stand-up posture and vice versa without using an external elevating force. The wheelchair includes the main frame for supporting driving wheels and auxiliary wheels and a body support frame formed by interconnecting a lower limb support member, a waist support member and a back rest member to one another. The forward portion of the main frame and the tip portion of the waist support member are turnably supported by a pivot, and an extension member for turnably supporting the waist support member with the pivot as the support point is interposed between the main frame and the waist support member. The motive force for the stand-up operation of the body support frame relies upon the push-up force of the user of the wheelchair (the body lift-up force of the user by his or her upper limbs) and the force of the extension member.1. A wheelchair comprising: a main frame supporting driving wheels and auxiliary wheels;a body support frame including pivotally interconnected lower limb support member, waist support member and backrest member, said main frame and said body support frame being formed as independent structures, a front end portion of said waist support member of said body support frame being pivotally connected to a front end portion of said main frame by pivot means;a pair of elbow supports each fixed to an upper portion of said main frame at respective sides thereof, said waist support member of said body support frame being disposed between said pair of elbow supports in a seating position of said body support frame;a gas spring fitted, at one end thereof, to a gas spring receiver pivotally connected to said main frame, and pivotally connected at its other end by a piston rod thereof to said waist support member of said body support frame such that extension and retraction of said gas spring causes said waist support member to rotate about said pivot means with respect to said main frame; andlocking means in operable connection with said gas spring for locking said gas spring in an arbitrary position between a fully extended and a fully retracted position so as to fix said waist support member at an arbitrary angle with respect to the horizontal within a prescribed angular range of its rotation about said pivot means, said fully extending and fully retracted positions of said gas spring corresponding to seating and standing positions of said body support frame, respectively.2. A wheelchair as defined in claim 1, wherein said locking means comprises a valve operation lever carried by said gas spring receiver for operating a valve of said gas spring, an operation lever mounted on one of said pair of elbow supports, and an operation wire operably connecting said valve operation lever and said operation lever, whereby gripping of said operation lever operates said valve thereby permitting extension and retraction of said gas spring whereas releasing said operation lever causes locking of said gas spring so as to prevent the extension or retraction thereof.3. The wheelchair as defined in claim 1, wherein said waist support member and said back rest member, and said waist support member and said lower limb support member are connected to said main frame by link mechanisms, respectively.4. The wheelchair as defined in claim 3, wherein said link mechanism for said waist support member and said back rest member consists of a parallelogrammic 4-rod link mechanism.5. The wheelchair as defined in claim 3, wherein said link mechanism for said waist support member and said lower limb support member consists of a 4-rod link mechanism having an arbitrary length.Description:BACKGROUNDThis invention relates to a wheelchair which makes it possible for the handicapped with an extremely limited or no lower-limb function such as a paraplegic to change his or her posture from a seated posture to a stand-up posture and vice versa, using his or her push-up force (the body lift-up action of the handicapped by his or her upper limb) which he or she daily exercises, as the motive force, without using any external power.The wheelchair is a kind of vehicle which is required to cover a range of motion substantially the same as walking and can be regarded as a short-distance transportation vehicle. Accordingly, the wheelchair must have a full function as a daily instrument, a moving function and a function which makes it possible for the handicapped to carry out work by use of the wheelchair. However, in accordance with the conventional wheelchair, the user of the wheelchair can do the work only in the seated posture but cannot do work which can be done only in a stand-up posture because his or her hands cannot reach a high position.Wheelchairs using an external power source (such as motor drive using a battery as the power source) for a stand-up mechanism have been proposed in recent years for a wheelchair which enables the user to do a work in a stand-up posture. However, the wheelchairs of this kind involve the drawbacks that the charging work and maintenance are complicated, that the weight of the wheelchair increases and that the wheelchair itself is extremely expensive with limited versatility.DRAWINGSFIG. 1 is a side view showing the wheelchair in accordance with one embodiment of the present invention;FIG. 2 is a rear view of FIG. 1;FIG. 3 is a perspective view showing the state in which a gas spring as an extension member is used; FIG. 4 is a diagram showing the relation between the seat angle (stand-up angle) and the load applied to the seat and to the foot plate.PREFERRED EMBODIMENTIn FIGS. 1 and 2, the reference numeral 1 represents a main frame which supports driving wheels 2 and auxiliary wheels 3. An elbow support 4 is fixed to the upper part of the main frame 1 on each side. Reference numeral 5 represents a body support frame which consists of a lower limb support member 6, a waist support member 7 and a back rest member 8. These members are connected in such a manner that the adjacent members are turnable relative to each other. A foot plate 9 and a landing member 10 are fixed to the lower end of the lower limb support member 6. The tip of the waist support member 7 is bent in an arcuate form and a bracket 11 is fixed to the arcuate portion and is turnably fitted to the forward portion of the main frame 1 by a pivot 12. The stand-up mechanism of the body support frame 5 consists of the back rest member 8, the waist support member 7 and the lower limb support member 6 which are connected to one another by two 4-rod links. Among these links, the link for the back rest member 8 and the waist support member 7 is a parallelogrammic 4-rod link connecting the links a and b to the pivot 12, and the link for the waist support member 7 and the lower limb support member 6 is a 4-rod link which connects the joint between the both members 6, 7 and the link c to the pivot 12 and may have an arbitrary or optional length. These two link mechanisms are fitted to the main frame 1.A gas spring 13 as an extension member is interposed between the main frame 1 and the waist support member 7 so that the retracting motion of the spring 13 supports and can raise up and down the waist support member 7 with the pivot 12 as the support point. This gas spring is a kind of spring which utilizes the pressure of a high pressure gas sealed in a cylinder 14 as shown in FIG. 3 so that a piston and a rod 15 connected to the piston inside the cylinder are actuated and are stopped at an arbitrary position. A gas spring receiver 16 is fitted to the main frame 1 while the rod 15 is fitted to the waist support member 7. A valve operation button 17 (hereinafter referred to as a lock button) can be operated by remote-controlling an operation lever 18 which is fitted to the elbow support member 4. In the drawings, the reference numeral 19 represents an operation wire, and 20, a valve operation lever.When the operation lever 18 is gripped, the valve operation lever 20 and the valve operation button 17 are actuated in the direction indicated by an arrow and release the lock of the gas spring 13. When the grip of the operation lever 18 is released, on the other hand, the valve operation lever 20 and the valve operation button 17 are actuated in the reverse direction whereby the gas spring 13 is locked.The motive force of the stand-up of the wheelchair in this embodiment relies upon the push-up force of the user of the wheelchair (the force of pushing up the body by the users upper limbs) and the reaction of the gas spring. The user can take the stand-up posture by use of these two kinds of force. The mode of use is as follows.To stand up, the wheelchair may first be braked, and the knees and waist of users body may then be fixed firmly to the wheelchair by a belt. After this preparation is completed, the operation lever 18 fitted to the elbow support 4 may be gripped and the lock button 17 of the gas spring is depressed so as to release the lock of the gas spring. In the stage where the lock is released, the gas spring starts operating. In this instance, the user puts his or her hand upon the elbow support 4 and then pushes up to reduce his or her weight acting upon the seat so that the rod 15 of the gas spring extends due to the gas reaction and the seat of the wheelchair starts elevating. During stand-up, the user releases the grip of the operation lever 18 at a desired height so as to eliminate the push force of the lock button 17 and to lock the gas spring. The seat can thus be fixed at that position.To return to the seated posture from the stand-up posture, first the lock of the gas spring may be released by the operation lever 18 and the user may then lower his or her body while gripping the elbow support 4 so as to apply his or her weight to the seat. In this instance, the weight of the user overcomes the gas reaction and the rod of the gas spring contracts so that the seat starts lowering slowly. In this case, too, the user can fix the seat at a desired position by locking the gas spring.In the embodiment described above, the maximum angle of stand-up of the waist support member is 75 degrees relative to the horizontal but the angle can be easily set to any value desired by the user. The angle of the back rest member 8 during stand-up can be always kept constant with respect to the horizontal by the parallelogrammic 4-rod link for the back rest member 8 and waist support member 7. The portion of the lower limb support member 6 can extend gradually with respect to the waist support member 7 so that it can correspond to the extension of the portion of the user below his or her knees with the extension of his or her knee joint during stand-up. This extension is attained because the link for the waist support member 7 and the lower limb support member 6 is constructed by the 4-rod link having an arbitrary length. In the embodiment described above, the quantity of extension is 50 mm with respect to the maximum stand-up but the value can be properly adjusted in accordance with the users desire. Push-up during stand-up is necessary until the waist support member 7 becomes 30 relative to the horizontal but when it exceeds 30, stand-up can be accomplished only by the force of the gas spring. Various other adjustments can be made in accordance with the weight of the user by appropriately adjusting the reaction of the gas spring and moreover, the gas spring can be replaced easily.FIG. 4 is a diagram showing the relation between the seat angle (the stand-up angle of the waist support member 7) and the load A applied to the seat and between the seat angle and the load B applied to the foot plate 9. The abscissa represents the seat angle (degrees) and the ordinate the load (kgf). As is obvious from the diagram, the weight of the user is primarily borne by the seat when the angle is small and is borne by the foot plate and the seat when the angle is great. Accordingly, the user can keep the seated posture or the stand-up posture without the need of exerting an excessive force. Moreover, since a part of the weight is borne by the seat even at the time of the maximum stand-up, the user can rest against the back and smoothly carry out work in the stand-up posture.Although the foot plate 9 and the landing member 10 are fixed to the lower end of the lower limb support member 6 in the foregoing embodiment, the user can move the wheelchair while keeping the stand-up posture if small wheels are further fitted. The driving wheel may also be of an electric type with its operation switch being fitted to the elbow support member for easy operation of the wheelchair. Although the wheelchair of the foregoing embodiment is not foldable, it can be changed to a foldable type by incorporating a folding mechanism.In accordance with the present invention, the body support frame consists of the lower limb support member, the waist support member and the back rest member 8 and is actuated by the ingenious combination of the extension member with the link mechanisms. Accordingly, the user of the wheelchair can easily change from a seated position to a stand-up position and vice versa. Even when the user assumes a stand-up posture, he or she can support his or her body by the body support frame so that he or she can smoothly carry out a work in the stand-up posture. Since the user can take and keep the stand-up posture, decubitus and contracture of the joints of the handicapped with a minimal or no lower-limb function can be prevented. The use of the gas spring as the extension member makes it possible to continuously and smoothly change the body support frame from the seated posture to the stand-up posture and vice versa. The seat can be set and fixed at a desired position even during the shift of the posture without any difficulty to the user. Moreover, since the shift from the seated posture to the stand-up posture and vice versa can all be effected manually, the wheelchair of the present invention is easy to operate and can eliminate otherwise likely dangers to the user and complicated maintenance procedures.16