電動(dòng)助力式爬樓輪椅設(shè)計(jì)【含CAD圖紙、說明書、開題報(bào)告】

畢業(yè)論文附件材料學(xué)生姓名：學(xué) 號(hào)：所在系部：專業(yè)班級(jí)：指導(dǎo)教師：日 期：目 錄1 英文文獻(xiàn)翻譯1 1.1 Wheelchair1 1.2 中文翻譯 102 專業(yè)閱讀書目 16 2.1 一種星輪式爬樓梯電動(dòng)輪椅設(shè)計(jì)與研究 16 2.2 智能輪椅的研究現(xiàn)狀和發(fā)展趨勢(shì) 16 2.3 電動(dòng)爬樓梯輪椅平地運(yùn)動(dòng)控制器研究 17 2.4 爬樓梯輪椅的星輪架設(shè)計(jì)及優(yōu)化 17 2.5 多功能輪椅的結(jié)抅設(shè)計(jì)與研究 18 2.6 一種輪組結(jié)構(gòu)的爬樓梯輪椅的設(shè)計(jì) 19 2.7 載人爬樓梯輪椅控制系統(tǒng)研究 19 2.8 機(jī)械設(shè)計(jì) 20 2.9 行星輪式爬樓梯輪椅的應(yīng)用研究 20 2.10 互換性與測(cè)量技術(shù)基礎(chǔ)211 英文文獻(xiàn)翻譯1.1 Wheelchair AbstractA 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(1)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.2.Description(1)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.(2) RESEARCH STATUSElectric climbing wheelchair research has a long history, as early as the 19th century, 90 years has emerged such a patent. Since then, the United States, Britain, Japan, Germany and other developed countries began to tackle this area, through continuous research, has achieved some success. As early start, they are more mature in this technology, has launched such a product. But at the same time these products still exist some flaws, need to be improved.Domestic research for nearly two decades has also achieved remarkable results. In recent years, there have been some success, but the product is still a long way to go mature.At present, there are a variety of climbing staircase electric wheelchair exists, in accordance with the current market, the mainstream climbing agencies can be divided into crawler, star wheel, leg and complex type of these four. At the same time each of the climbing agencies have their own advantages and disadvantages.(3) SIGNIFICANCEThe current problem of aging population in China is becoming more and more prominent. This article mainly takes into account the elderly people and the disabled population mobility, there are some old buildings without the characteristics of the elevator, designed to climb the stairs function of electric wheelchairs, thereby enhancing their quality of life.With the development of society and the progress of human civilization, especially the rapid expansion and construction of the city, the aging of the population is becoming more and more serious, the number of disabled people is increasing, and the demand for auxiliary walking tools is increasing day by day. At present, Chinas high-rise buildings gathered, more and more bridge, the parks stairs, no elevator residential building steps, which are troubled by wheelchair users. Wheelchair as the only travel tool for people with disabilities, but by more and more restrictions, for these steps and obstacles, this time the traditional wheelchair has been unable to meet the needs of most people. With the development of science and technology, we should improve the wheelchair, so that its function is more perfect, in order to adapt to the modern social environment.In recent years, many universities, companies and research institutions at home and abroad have carried out in-depth research on the climbing device, put forward a variety of products or solutions. In general, according to different climbing agencies, can be divided into the following institutions: one is the use of Star-type climbing agencies, star wheel not only around their own axis of rotation, but also co-rotation around a rotating shaft; One is crawler-style climbing agencies; and leg-foot climbing agencies and composite climbing agencies. Now, the development of Chinas wheelchair industry is slow, in the country can climb the stairs of multi-function wheelchair, there is no mature products. However, with the development of social productive forces and the improvement of peoples living standard, it is of great practical significance to develop a wheelchair with climbing stairs, taking into account the convenience needs of the elderly and the disabled.In Chinas national economic development, the demand for electric climbing stair wheelchair increased year by year, the market has great potential, electric climbing wheelchair industry development opportunities are vast and have a good production prospect.3.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.1.2 中文翻譯摘要輪椅改良設(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.說明（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，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，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） 研究現(xiàn)狀電動(dòng)爬樓輪椅的研究歷史悠久，早在19世紀(jì)90年代就已經(jīng)出現(xiàn)了這樣的專利。此后，美國(guó)，英國(guó)，日本，德國(guó)等發(fā)達(dá)國(guó)家開始攻堅(jiān)這個(gè)領(lǐng)域，通過不斷的鉆研，已經(jīng)取得了一定成效。由于起步較早，他們?cè)谶@項(xiàng)技術(shù)上比較成熟，已經(jīng)推出了這樣的產(chǎn)品。但同時(shí)這些產(chǎn)品仍然存在一些瑕疵，需要改進(jìn)。國(guó)內(nèi)的研究近一二十年也取得了顯著成效。近年來，相繼出現(xiàn)了一些成果，但產(chǎn)品距離成熟還有很長(zhǎng)的路要走。 目前已有多種多樣的爬樓梯電動(dòng)輪椅存在，按照目前市場(chǎng)上主流的爬樓機(jī)構(gòu)可分為履帶式，星輪式，腿足式和復(fù)合式這四種。同時(shí)每種爬樓機(jī)構(gòu)都有自己的優(yōu)點(diǎn)和缺點(diǎn)。（3） 研究意義隨著社會(huì)發(fā)展和人類文明的進(jìn)步，特別是城市快速擴(kuò)張和建設(shè)，人口老齡化問題日益嚴(yán)重，殘疾人人數(shù)不斷增加，對(duì)輔助步行工具的需求也日益增加。而目前我國(guó)高層建筑云集，天橋越來越多，公園的臺(tái)階，沒有電梯的小區(qū)樓房臺(tái)階，這些都困擾著輪椅使用者。輪椅作為殘疾人人群唯一的出行工具，卻受到越來越多的限制，對(duì)于這些臺(tái)階及障礙，此時(shí)傳統(tǒng)的輪椅已經(jīng)無法滿足大多數(shù)人的需求。而隨著科學(xué)技術(shù)的發(fā)展，我們應(yīng)改進(jìn)輪椅，使其功能更加完善，以此來適應(yīng)現(xiàn)代社會(huì)環(huán)境。 近年來，國(guó)內(nèi)外許多大學(xué)，公司和研究機(jī)構(gòu)對(duì)爬樓裝置進(jìn)行了深入研究，提出了各種產(chǎn)品或解決方案。一般來說，根據(jù)不同的爬樓機(jī)構(gòu)，可分為以下幾種機(jī)構(gòu)：一種是采用星輪式爬樓機(jī)構(gòu)，星輪不僅圍繞著自己的軸線旋轉(zhuǎn)，而且還共同圍繞一根旋轉(zhuǎn)軸旋