電動(dòng)助力式爬樓輪椅設(shè)計(jì)【含CAD圖紙、說(shuō)明書(shū)、開(kāi)題報(bào)告】

壓縮包內(nèi)含有CAD圖紙和說(shuō)明書(shū),咨詢Q 197216396 或 11970985畢 業(yè) 設(shè) 計(jì)（論 文）電動(dòng)助力式爬樓輪椅設(shè)計(jì)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：Design of electric climbing wheelchairByMay 2017學(xué)位論文原創(chuàng)性聲明 本人鄭重聲明：所呈交的學(xué)位論文是本人在導(dǎo)師的指導(dǎo)下獨(dú)立進(jìn)行研究所取得的研究成果。除了文中特別加以標(biāo)注引用的內(nèi)容外，本論文不包含任何其他個(gè)人或集體已經(jīng)發(fā)表或撰寫(xiě)的成果作品。本人完全意識(shí)到本聲明的法律后果由本人承擔(dān)。 作者簽名： 年 月 日學(xué)位論文版權(quán)使用授權(quán)書(shū) 本學(xué)位論文作者完全了解學(xué)院有關(guān)保管、使用學(xué)位論文的規(guī)定，同意學(xué)院保留并向有關(guān)學(xué)位論文管理部門(mén)或機(jī)構(gòu)送交論文的復(fù)印件和電子版，允許論文被查閱和借閱。本人授權(quán)省級(jí)優(yōu)秀學(xué)士學(xué)位論文評(píng)選機(jī)構(gòu)將本學(xué)位論文的全部或部分內(nèi)容編入有關(guān)數(shù)據(jù)庫(kù)進(jìn)行檢索，可以采用影印、縮印或掃描等復(fù)制手段保存和匯編本學(xué)位論文。本學(xué)位論文屬于 1、保密 ，在 年解密后適用本授權(quán)書(shū)。 2、不保密 。 （請(qǐng)?jiān)谝陨舷鄳?yīng)方框內(nèi)打“”） 作者簽名： 年 月 日 導(dǎo)師簽名： 年 月 日摘 要當(dāng)前中國(guó)社會(huì)人口老齡化的問(wèn)題越來(lái)越突出。本文主要考慮到老年人人群以及殘疾人人群行動(dòng)不便，還有部分老式樓房沒(méi)有電梯的特點(diǎn)，設(shè)計(jì)具有爬樓梯功能的電動(dòng)輪椅，從而提高他們的生活質(zhì)量。本次設(shè)計(jì)主要針對(duì)電動(dòng)爬樓梯輪椅進(jìn)行設(shè)計(jì)。首先，通過(guò)對(duì)電動(dòng)爬樓梯輪椅的結(jié)構(gòu)及運(yùn)動(dòng)原理進(jìn)行分析，并在此基礎(chǔ)上提出總體設(shè)計(jì)方案，本設(shè)計(jì)決定采用星輪式的爬樓輪椅。其次是對(duì)輪椅主要結(jié)構(gòu)參數(shù)進(jìn)行設(shè)計(jì)計(jì)算以及對(duì)各主要零部件進(jìn)行設(shè)計(jì)及校核，主要包括對(duì)輪椅座椅骨架的設(shè)計(jì)，座椅調(diào)平機(jī)構(gòu)的設(shè)計(jì)以及輪椅傳動(dòng)機(jī)構(gòu)的設(shè)計(jì)。最后，通過(guò)制圖軟件繪制電動(dòng)爬樓梯輪椅的裝配圖及主要部件零件圖。本電動(dòng)爬樓梯輪椅在普通輪椅的基礎(chǔ)上安裝了星輪式爬樓裝置、座椅調(diào)平機(jī)構(gòu)、電機(jī)及其相關(guān)控制系統(tǒng)。這樣可以方便使用人群，減少他們出行的困難，提高他們的生活質(zhì)量。 在中國(guó)國(guó)民經(jīng)濟(jì)發(fā)展中，電動(dòng)爬樓梯輪椅的需求逐年增加，市場(chǎng)潛力巨大，電動(dòng)爬樓輪椅行業(yè)發(fā)展機(jī)遇廣闊，生產(chǎn)前景良好。關(guān)鍵詞：行星輪 座椅調(diào)平機(jī)構(gòu) 控制系統(tǒng) 輪椅IIAbstractThe 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.This design is mainly for electric climbing stairs wheelchair design. First of all, through the analysis of the structure and movement principle of the electric climbing staircase wheelchair, and on this basis, put forward the overall design plan, the design decided to use the wheel-type climbing wheelchair. Followed by the design and calculation of the main structural parameters of the wheelchair and the design and verification of the major components, including the design of the wheelchair seat frame, seat leveling mechanism design and wheelchair transmission mechanism design. Finally, through the mapping software to draw electric climbing wheelchair assembly diagram and the main parts of the assembly map.The electric climbing staircase wheelchair in the ordinary wheelchair on the basis of the installation of a star-type climbing equipment, seat leveling mechanism, motor and its related control system. This makes it easy to use the crowd, reduce the difficulty of their travel, and improve their quality of life.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, the production prospects are good.Keywords： planet wheel seat leveling mechanism control system wheelchair目 錄摘要 IAbstractII1 緒論 1 1.1 課題研究目的及意義 1 1.2 國(guó)內(nèi)外爬樓梯輪椅的發(fā)展現(xiàn)狀 11.2.1 星輪式 21.2.2 履帶式 21.2.3 腿足式 31.2.4 復(fù)合式 4 1.3 本課題的主要研究?jī)?nèi)容 5 1.4 設(shè)計(jì)進(jìn)程的安排 52 機(jī)械結(jié)構(gòu)總體方案設(shè)計(jì) 7 2.1 爬樓機(jī)構(gòu)的選擇 7 2.2 爬樓輪椅總體結(jié)構(gòu)概述 8 2.3 輪椅座椅骨架設(shè)計(jì) 9 2.4 星輪爬升機(jī)構(gòu)設(shè)計(jì)11 2.5 座椅調(diào)平機(jī)構(gòu)的設(shè)計(jì)133 電氣系統(tǒng)總體方案設(shè)計(jì)16 3.1 電機(jī)的選擇163.1.1 電機(jī)類型選擇163.1.2 電機(jī)功率計(jì)算173.1.3 電機(jī)相關(guān)參數(shù)18 3.2 蓄電池的選擇20 3.3 控制系統(tǒng)設(shè)計(jì)203.3.1 電機(jī)驅(qū)動(dòng)原理20 3.3.2 電機(jī)調(diào)速原理213.3.3 PLC控制系統(tǒng)243.3.4 PLC相關(guān)參數(shù)254 傳動(dòng)部件的設(shè)計(jì)27 4.1 傳動(dòng)系統(tǒng)動(dòng)力參數(shù)計(jì)算28 4.2 齒輪傳動(dòng)的設(shè)計(jì)29 4.3 傳動(dòng)軸的設(shè)計(jì)324.3.1 輸出軸的設(shè)計(jì)324.3.2 車(chē)輪軸的設(shè)計(jì)35結(jié)論38致謝39參考文獻(xiàn)401 緒論1.1 課題研究目的及意義隨著社會(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(wèn)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(lái)越多，公園的臺(tái)階，沒(méi)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(lái)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(wú)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(lái)適應(yīng)現(xiàn)代社會(huì)環(huán)境。 近年來(lái)，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(lái)說(shuō)，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)軸旋轉(zhuǎn)；一種是履帶式爬樓機(jī)構(gòu)；還有腿足式爬樓機(jī)構(gòu)和復(fù)合式爬樓機(jī)構(gòu)?，F(xiàn)在，中國(guó)輪椅行業(yè)發(fā)展緩慢，在國(guó)內(nèi)可以爬樓梯的多功能輪椅，還沒(méi)有成熟的產(chǎn)品。但隨著社會(huì)生產(chǎn)力的發(fā)展，人民生活水平的提高，考慮到老年人和殘疾人的出行便利需求，研制具有爬樓梯功能的輪椅將具有重大的現(xiàn)實(shí)意義。1.2 國(guó)內(nèi)外爬樓梯輪椅的發(fā)展現(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(kāi)始攻堅(jiān)這個(gè)領(lǐng)域，通過(guò)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(lái)，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)。1.2.1 星輪式星輪式爬樓輪椅的爬樓機(jī)構(gòu)由呈現(xiàn)“Y”，“五星”或“十”字型的多個(gè)相同小輪組成，其特點(diǎn)是：每個(gè)星輪和星輪架都可繞主軸旋轉(zhuǎn)，每個(gè)星輪也可以圍繞其自己的輪軸旋轉(zhuǎn)。在爬樓時(shí)，星輪本身自鎖不轉(zhuǎn)，星輪架?chē)@主軸旋轉(zhuǎn)，完成爬樓動(dòng)作。在平地行駛中，星輪架相對(duì)于主軸自鎖不轉(zhuǎn)，每個(gè)星輪可繞自己的輪軸自轉(zhuǎn)，然后通過(guò)與地面接觸的星輪自轉(zhuǎn)來(lái)實(shí)現(xiàn)地面驅(qū)動(dòng)功能。由美國(guó)發(fā)明家Dean Kamen發(fā)明了一種可以自動(dòng)調(diào)整重心的星輪式爬樓輪椅IBOT3000（圖1.1）。 它共有六個(gè)輪子，在一對(duì)導(dǎo)向輪在前面，后面是兩對(duì)行星機(jī)構(gòu)的充氣輪胎，通過(guò)兩個(gè)輪子交替翻轉(zhuǎn)來(lái)上下樓梯。 圖1.1 IBOT30001.2.2 履帶式 履帶爬樓機(jī)構(gòu)的技術(shù)已是趨于成熟，由于坦克、履帶裝甲車(chē)的履帶越障技術(shù)已經(jīng)實(shí)際應(yīng)用較長(zhǎng)時(shí)間，此類型的爬樓輪椅就參照了其中履帶的應(yīng)用。運(yùn)用了履帶越障能力強(qiáng)，運(yùn)動(dòng)平穩(wěn)，控制簡(jiǎn)單，能夠適應(yīng)各種尺寸的樓梯等優(yōu)點(diǎn)。 設(shè)計(jì)成型的產(chǎn)品也已經(jīng)問(wèn)世，并早在十幾年前就已經(jīng)占據(jù)了一定市場(chǎng)份額。其中較為出名的是法國(guó)TopChiar公司研制的悍馬H8（圖1.2a）以及T09ROBY（圖1.2b）。兩者在結(jié)構(gòu)上都是普通電動(dòng)輪椅和爬樓機(jī)構(gòu)合一，在平地行駛時(shí)履帶機(jī)構(gòu)收起，由后輪驅(qū)動(dòng)；遇到樓梯時(shí)，放下履帶機(jī)構(gòu)驅(qū)動(dòng)輪椅，后輪收起，履帶機(jī)構(gòu)與輪椅座椅形成一定角度，角度可調(diào)整，從而保持座椅的水平。 （a）法國(guó)悍馬H8 （b）T09ROBY 圖1.2 履帶式爬樓機(jī)構(gòu)1.2.3 腿足式 腿足式爬樓輪椅在國(guó)外已有將近一百年的歷史，經(jīng)過(guò)人們不斷的改進(jìn)和完善，現(xiàn)在腿足式爬樓輪椅都存在較高的安全性，且傳動(dòng)機(jī)構(gòu)復(fù)雜。該輪椅的爬樓原理是模仿人身體的爬樓動(dòng)作，該爬樓輪椅主要靠?jī)商字窝b置交替支撐來(lái)實(shí)現(xiàn)輪椅爬樓梯的功能。 目前世界各國(guó)都在對(duì)腿足式爬樓輪椅進(jìn)行研究，其中日本的研究技術(shù)比較成熟，其經(jīng)過(guò)數(shù)十年研究，已經(jīng)出現(xiàn)了很多成熟產(chǎn)品。其中較為出名的是日本的豐田公司研發(fā)的“iFoot”（圖1.3a）和“WL16RII”（圖1.3b），這兩種爬樓輪椅的行駛裝置類似于人體的兩條腿，這可以使輪椅乘坐者能夠像正常人一樣到處運(yùn)動(dòng)，它們都可為老年人和殘疾人人群提供新的行動(dòng)能力，減少他們出行的困難。由于腿足式爬樓輪椅的安全性比其它類型的爬樓輪椅高，所以在國(guó)外得到廣泛應(yīng)用。但由于其復(fù)雜的傳動(dòng)機(jī)構(gòu)及控制系統(tǒng)，我國(guó)目前仍然不掌握這種技術(shù)。盡管如此，為了老年人及殘疾人人群的安全著想，我們還是應(yīng)該優(yōu)先考慮一個(gè)更安全而不是更便宜的爬樓輪椅。相信隨著人類科學(xué)技術(shù)的發(fā)展以及人們消費(fèi)水平的提高，腿足式爬樓輪椅在未來(lái)將逐漸成為更多殘疾人和老年人人群的首選。 （a）iFoot （b）WL16RII 圖1.3 腿足式爬樓機(jī)構(gòu)1.2.4 復(fù)合式 目前，鑒于履帶式，星輪式和腿足式爬樓機(jī)構(gòu)的優(yōu)缺點(diǎn)，新的爬樓機(jī)構(gòu)的創(chuàng)新點(diǎn)是結(jié)合上述機(jī)構(gòu)，將星輪式、履帶式和腿足式的優(yōu)點(diǎn)相互結(jié)合。目前普遍的組合有兩種：一個(gè)是輪履，腿履復(fù)合體，例如英國(guó)公司生產(chǎn)的Stairmatic(圖1.4a)；二是輪履復(fù)合體，如EPFL生產(chǎn)的ShrimpRobot（圖1.4b）。該設(shè)計(jì)主要是依靠腿型機(jī)構(gòu)來(lái)完成爬樓及跨越障礙，利用履帶的穩(wěn)定性和輪組的靈活性來(lái)實(shí)現(xiàn)功能的完整。總而言之，雖然復(fù)合式爬樓梯輪椅有其自身的優(yōu)勢(shì)，但同時(shí)自身還有一些瑕疵需要解決，而且其昂貴的價(jià)格也難以承受。 （a）Stairmatic （b）ShrimpRobot圖1.4 復(fù)合式爬樓機(jī)構(gòu)1.3 本課題的主要研究?jī)?nèi)容 爬樓梯電動(dòng)輪椅的爬樓實(shí)現(xiàn)機(jī)構(gòu)是本設(shè)計(jì)內(nèi)容的重點(diǎn)。設(shè)計(jì)合理可靠的爬樓機(jī)構(gòu)對(duì)于實(shí)現(xiàn)電動(dòng)爬樓梯輪椅的功能和安全性至關(guān)重要。另外，在爬樓機(jī)構(gòu)設(shè)計(jì)過(guò)程中，爬樓梯電動(dòng)輪椅爬樓一般需要較大的扭矩，這是爬樓輪椅一般面臨的問(wèn)題，所以需要確定適當(dāng)?shù)膫鲃?dòng)系統(tǒng)來(lái)實(shí)現(xiàn)大傳動(dòng)比“減速增扭”功能，但同時(shí)需要考慮輪椅本身空間結(jié)構(gòu)的限制，其中需要關(guān)注其傳動(dòng)系統(tǒng)的設(shè)計(jì)，以達(dá)到其傳動(dòng)功能的要求。最后，從使用者舒適程度出發(fā)，應(yīng)該盡量減少上下樓梯過(guò)程中重心調(diào)整造成的波動(dòng)，從發(fā)生傾翻危險(xiǎn)的實(shí)際情況出發(fā)優(yōu)化重心調(diào)整方案。為了更好的完成這些設(shè)計(jì)任務(wù)，本設(shè)計(jì)應(yīng)做到以下幾點(diǎn)：1.設(shè)計(jì)后應(yīng)能夠?qū)崿F(xiàn)的功能：（1）實(shí)用性好，應(yīng)能攀爬不同尺寸的臺(tái)階；（2）控制結(jié)構(gòu)盡量簡(jiǎn)單，平地行駛與上下臺(tái)階兩種工作情況容易切換；（3）使乘坐者感到平穩(wěn)舒適，爬樓梯時(shí)應(yīng)使座椅保持在水平狀態(tài)；（4）在保證安全的前提下，輪椅結(jié)構(gòu)要盡量簡(jiǎn)單緊湊，造價(jià)要低。2.本設(shè)計(jì)需要解決的主要問(wèn)題：（1）爬樓機(jī)構(gòu)的設(shè)計(jì)；（2）爬樓過(guò)程中重心如何調(diào)整分析；（3）電機(jī)，蓄電池的選型；（4）電動(dòng)輪椅的運(yùn)動(dòng)控制系統(tǒng)設(shè)計(jì)。1.4 設(shè)計(jì)進(jìn)程的安排根據(jù)本課題的研究?jī)?nèi)容，設(shè)計(jì)工作可概括為以下四個(gè)階段：1. 收集資料階段 主要查找信息包括目前國(guó)內(nèi)外電動(dòng)爬樓梯輪椅的發(fā)展現(xiàn)狀，各相關(guān)技術(shù)產(chǎn)品專利。并找出其中幾種主流式爬樓機(jī)構(gòu)，分析研究它們的機(jī)構(gòu)性能以及爬樓過(guò)程。在這個(gè)階段，我主要收集整理國(guó)內(nèi)外電動(dòng)爬樓梯輪椅相關(guān)信息，從這些設(shè)計(jì)中提取靈感，并初步明確設(shè)計(jì)思路，定下設(shè)計(jì)方案。2. 分析研究階段 該階段主要包括三個(gè)方面的內(nèi)容：爬升機(jī)構(gòu)的設(shè)計(jì)，電機(jī)、蓄電池的選擇，座椅升降機(jī)構(gòu)的設(shè)計(jì)。在此階段，主要對(duì)國(guó)內(nèi)外各種主流形式的爬樓機(jī)構(gòu)進(jìn)行功能比較，選擇其中性價(jià)較高的爬樓機(jī)構(gòu)來(lái)進(jìn)行研究設(shè)計(jì)。在電機(jī)選擇上，主要分析比較了在戶外行駛條件下應(yīng)該使用交直流電機(jī)中的哪一種。使用交流電機(jī)就需要有一根電線來(lái)接電，那樣電線的長(zhǎng)度就限制了輪椅的行駛距離，這樣非常不安全。所以最終選用了直流電機(jī)，并在其上安裝蓄電池來(lái)供電。在座椅升降機(jī)構(gòu)方面，通過(guò)比較多種機(jī)構(gòu)后，最終選擇了滾道滑軌式座椅調(diào)平機(jī)構(gòu)，該機(jī)構(gòu)主要通過(guò)滾軸軸端安裝的軸承在滑軌里滑動(dòng)，調(diào)整行駛過(guò)程中的重心波動(dòng)，從而實(shí)現(xiàn)座椅的調(diào)平。3. 設(shè)計(jì)階段在這個(gè)階段，主要工作是對(duì)輪椅各個(gè)模塊上進(jìn)行設(shè)計(jì)計(jì)算，主要考慮到各個(gè)模塊的機(jī)械性能，運(yùn)動(dòng)性能等，并對(duì)傳動(dòng)模塊進(jìn)行校核計(jì)算。確定輪椅機(jī)械結(jié)構(gòu)方面的具體尺寸及裝配方法，繪制機(jī)械機(jī)構(gòu)裝配圖、部分零件圖及電路控制圖。 4. 總結(jié)階段在畢業(yè)設(shè)計(jì)的最后，我們要梳理自己收集的信息，分析自己做的研究，完成論文的撰寫(xiě)，繪制機(jī)械裝配圖和主要零部件圖，并進(jìn)行修改。2 機(jī)械結(jié)構(gòu)總體方案設(shè)計(jì)2.1 爬樓機(jī)構(gòu)的選擇作為爬樓梯電動(dòng)輪椅，其驅(qū)動(dòng)機(jī)構(gòu)主要由兩部分組成，其中一部分是爬樓梯機(jī)構(gòu)，另一部分是平地行駛機(jī)構(gòu)。本課題設(shè)計(jì)工作的重點(diǎn)在于爬樓機(jī)構(gòu)的設(shè)計(jì)，平地行駛機(jī)構(gòu)的設(shè)計(jì)以及如何將爬樓梯功能與普通電動(dòng)輪椅的功能相結(jié)合。通過(guò)對(duì)國(guó)內(nèi)外爬樓梯裝置的分析研究，大致將爬升機(jī)構(gòu)分為星輪式、履帶式、腿足式及復(fù)合式。通過(guò)比較它們的優(yōu)缺點(diǎn)，得出下表2.1。表2.1 典型爬升機(jī)構(gòu)性能對(duì)照表爬升機(jī)構(gòu)星輪式履帶式腿足式臺(tái)階適應(yīng)能力一般強(qiáng)強(qiáng)穩(wěn)定性一般強(qiáng)差控制難易度簡(jiǎn)單一般困難機(jī)構(gòu)復(fù)雜程度簡(jiǎn)單一般復(fù)雜行走阻力小大大對(duì)臺(tái)階有無(wú)損傷無(wú)有無(wú)噪音小大小靈活程度較好一般好價(jià)格低中高通過(guò)對(duì)比以上各種爬升機(jī)構(gòu)的優(yōu)缺點(diǎn)，考慮到控制的難易程度、使用的安全性、運(yùn)動(dòng)的靈活性等，最終確定采用星輪機(jī)構(gòu)作為爬升機(jī)構(gòu)。該爬樓機(jī)構(gòu)的主要優(yōu)點(diǎn)有：（1）平穩(wěn)的行駛能力。輪椅在地面行駛時(shí)，由于其結(jié)構(gòu)的特點(diǎn)，任何時(shí)候都有六個(gè)小輪與地面接觸，利用星輪的定軸輪系來(lái)傳遞動(dòng)力，使小輪快速地向前或向后。當(dāng)面臨障礙物時(shí)，車(chē)輪變成行星輪系進(jìn)行翻轉(zhuǎn)向前推進(jìn)。（2）可靠的爬樓梯能力。當(dāng)輪椅上下樓梯時(shí)，電機(jī)控制三個(gè)星輪繞中心軸旋轉(zhuǎn)，同時(shí)行星齒輪減速器和蝸輪蝸桿式大減速比裝置形成自鎖功能，使控制動(dòng)作得到準(zhǔn)確保證。這一特點(diǎn)對(duì)于控制輪椅爬樓梯特別重要。（3）控制方式易于實(shí)現(xiàn)。任意時(shí)刻輪椅左側(cè)和右側(cè)輪組的輪子速度相同，從而可以精確控制輪椅的運(yùn)動(dòng)。（4）通過(guò)電機(jī)的調(diào)速控制器來(lái)實(shí)現(xiàn)輪椅的轉(zhuǎn)彎，向前或向后直線前進(jìn)，爬坡，爬樓等功能。轉(zhuǎn)彎中所需的半徑即為車(chē)身寬度。2.2 爬樓輪椅總體結(jié)構(gòu)概述該輪椅的總體結(jié)構(gòu)如圖2.1所示，我在其上做了改進(jìn)。本課題電動(dòng)爬樓輪椅主要由爬樓機(jī)構(gòu)（星輪式機(jī)構(gòu)）、輪椅框架、座椅、傳動(dòng)機(jī)構(gòu)、座椅調(diào)平機(jī)構(gòu)以及轉(zhuǎn)向機(jī)構(gòu)組成。 圖2.1 星輪式爬樓輪椅結(jié)構(gòu)簡(jiǎn)圖（1）爬樓機(jī)構(gòu)：本輪椅采用一組星輪式爬樓機(jī)構(gòu)，行星輪左右分別對(duì)稱安裝，通過(guò)行星輪的公轉(zhuǎn)和自轉(zhuǎn)實(shí)現(xiàn)平地行駛與爬樓功能的轉(zhuǎn)換。（2）輪椅框架：輪椅框架是整個(gè)輪椅的基礎(chǔ)，應(yīng)結(jié)合輪椅整體布局的要求進(jìn)行設(shè)計(jì)，同時(shí)輪椅框架還應(yīng)具有足夠的強(qiáng)度和剛度，確保輪椅在各種復(fù)雜路況下安全行駛。輪椅框架的質(zhì)量應(yīng)盡可能小，盡量降低輪椅總體的重心，這樣可以使輪椅行駛起來(lái)更穩(wěn)定。（3）座椅：輪椅座椅應(yīng)該使乘坐者感覺(jué)舒適，所以這個(gè)設(shè)計(jì)應(yīng)該充分考慮到用戶的具體身體狀況。（4）傳動(dòng)機(jī)構(gòu)：采用電機(jī)接齒輪的傳動(dòng)方式，使電機(jī)的傳動(dòng)力可以有效地傳遞到驅(qū)動(dòng)輪椅運(yùn)動(dòng)的行星輪機(jī)構(gòu)上，從而驅(qū)動(dòng)輪椅前進(jìn)。（5）座椅調(diào)平機(jī)構(gòu)：設(shè)計(jì)一個(gè)滾道滑座調(diào)平機(jī)構(gòu)。主要由圓弧形軌道和滾軸組成。滑軌通過(guò)焊接固定在輪椅底座上，滾軸與輪椅座椅底部的托架采用螺紋連接。其軸端裝有滾動(dòng)軸承，使其可以在滑軌中滑動(dòng)以實(shí)現(xiàn)座椅的調(diào)平。（6）轉(zhuǎn)向機(jī)構(gòu)：鑒于車(chē)輪數(shù)量的設(shè)計(jì)較多，如果直接使用前輪和后輪都是行星輪的形式，那么就有8個(gè)輪子與地面接觸，那就必須同時(shí)轉(zhuǎn)動(dòng)8個(gè)輪子才能轉(zhuǎn)向，所需的轉(zhuǎn)向力就會(huì)很大，導(dǎo)致轉(zhuǎn)向困難，同時(shí)其行走阻力也很大。為了解決這一困難，我把輪椅前邊的行星輪改成了2個(gè)轉(zhuǎn)向輪，這樣一來(lái)就同時(shí)有6個(gè)輪子著地，減小了轉(zhuǎn)向力及行走阻力。2.3 輪椅座椅骨架設(shè)計(jì) 電動(dòng)輪椅主體骨架包括電動(dòng)輪椅主體和支撐結(jié)構(gòu)，承載著輪椅重量和乘坐者的重量，電動(dòng)輪椅所有部件必須安裝在輪椅主體骨架上。輪椅座椅的設(shè)計(jì)應(yīng)考慮到電機(jī)及傳動(dòng)機(jī)構(gòu)的布置，為傳動(dòng)機(jī)構(gòu)留出足夠的空間，使輪椅的重心合理分布。輪椅座椅尺寸要符合人體坐姿尺寸，讓乘坐者感到舒適，具體人體坐姿尺寸見(jiàn)下表。表2.2 坐姿人體尺寸測(cè)量項(xiàng)目男（1860歲）女（1855歲）坐高/mm858908947958809855891901坐姿肘高/mm228263291298215251277284坐姿大腿厚/mm112130146151113130146151坐姿膝高/mm456493523532424458485493小腿加足高長(zhǎng)/mm383413439448342382399405坐深/mm4214574864944014084614691.座椅寬度座椅寬度是指座椅左右之間的距離。設(shè)計(jì)時(shí)要注意座椅的寬度需比人體坐姿時(shí)的臀部寬度大，這樣可以使乘坐者自由地調(diào)整坐姿。所以根據(jù)表2.2最終確定座椅寬度為420mm。2.座椅深度座椅深度是指座椅前后之間的距離。人體臀圍到大腿全長(zhǎng)的3/4大概就是這個(gè)深度的大小。綜合上表最后確定為450mm。3.座椅靠背的高和寬座椅靠背的高度應(yīng)該接近于人體坐姿的高度。靠背的寬度應(yīng)該約等于人體肩寬的大小。經(jīng)查閱資料，最終取靠背高度為700mm，靠背寬度為420mm。4.座椅靠背傾角此傾角是指座椅靠背和水平面之間所夾的角度?？勘潮３忠欢ǖ膬A斜角度可使乘坐者的脊椎時(shí)刻處于放松狀態(tài)，該角度一般為95120。所以最終取100。5.扶手尺寸座椅扶手主要考慮到兩個(gè)尺寸，即扶手的高度以及左右扶手的間距。考慮到人體兩肘之間的寬度以及肘部平放時(shí)的高度，參照上表2.2，最后確定扶手的高度取為210mm，左右扶手間的間距取為420mm。6.腳踏板高度腳踏板的高度即指其與座椅之間的距離。其位置最好是能使其與大腿保持大于90的夾角，并且盡量使人體小腿平行于上身。這樣可使腿部時(shí)刻處于放松狀態(tài)以及保證腿腳有足夠的活動(dòng)空間。所以參照表2.2最后確定為420mm。2.4 星輪爬升機(jī)構(gòu)設(shè)計(jì)輪椅的爬樓機(jī)構(gòu)選用星輪輪組結(jié)構(gòu)。星輪輪組結(jié)構(gòu)中小輪數(shù)量越少，結(jié)構(gòu)就越簡(jiǎn)單，但是驅(qū)動(dòng)輪組翻越障礙所需的轉(zhuǎn)矩也越大，在行駛過(guò)程中輪椅重心波動(dòng)的問(wèn)題也越大，穩(wěn)定性也就越差。但隨著小輪數(shù)量的增加，整個(gè)輪組的結(jié)構(gòu)又將變得復(fù)雜。因此，經(jīng)過(guò)研究分析，最終確定該輪椅的前輪即導(dǎo)向輪采用一個(gè)小輪來(lái)形成一個(gè)輪組機(jī)構(gòu)，后輪一個(gè)輪組機(jī)構(gòu)由三個(gè)小輪組成。 圖2.2 三星輪機(jī)構(gòu)簡(jiǎn)圖我國(guó)建筑樓梯模數(shù)協(xié)調(diào)標(biāo)準(zhǔn)規(guī)定：室內(nèi)樓梯踏步高度不宜大于，并不宜小于；樓梯踏步寬度不宜大于，并不宜小于，計(jì)算樓梯的臺(tái)階角度在之間，我們一般取來(lái)計(jì)算；樓梯踏步高與寬的關(guān)系要滿足：。輪椅要適應(yīng)規(guī)定的尺寸范圍，才能夠順利的上下樓梯，即強(qiáng)調(diào)輪椅的適應(yīng)能力。輪椅車(chē)輪應(yīng)能在最小寬度的臺(tái)階上穩(wěn)定的支撐輪椅，并能做一定距離的滾動(dòng)。根據(jù)這個(gè)條件，星輪直徑，所以綜合以上因素選擇星輪直徑為。在樓梯踏步尺寸最小的情況下，輪椅車(chē)攀爬樓梯的難度最大，所以對(duì)車(chē)輪直徑可行性的驗(yàn)證以及兩輪中心距的確定均在踏步寬度為，踏步高度為的臺(tái)階上進(jìn)行。星輪機(jī)構(gòu)爬樓狀態(tài)，如圖2.3所示。其中，為星輪架臂長(zhǎng)，為星輪半徑，為星輪架臂寬，為星輪中心距，為星輪中心與樓梯邊緣的距離。 （a）星輪組爬樓示意 （b）星輪示意 （c）星輪架示意 圖2.3 星輪機(jī)構(gòu)爬樓梯示意簡(jiǎn)圖根據(jù)圖2.3，可以得出以下式子： （21） （22）取，又由已知條件可知，得到： 同理取時(shí)，同上可得： 所以最終在這個(gè)范圍中取星輪架臂長(zhǎng)。當(dāng)輪組結(jié)構(gòu)中兩個(gè)星輪相切時(shí)，此時(shí)星輪半徑為最大，其最大值的計(jì)算公式為： （23）代入，得出，所以確定是合理的。當(dāng)星輪半徑以及星輪架臂長(zhǎng)取一定值時(shí)，根據(jù)圖2.3可推導(dǎo)出： （24）代入相關(guān)數(shù)值解得，即星輪架臂寬。結(jié)合以上公式(21)、(22)、(23)、(24)的計(jì)算結(jié)果，最終確定星輪的主要參數(shù)為： 2.5 座椅調(diào)平機(jī)構(gòu)的設(shè)計(jì)爬樓輪椅在爬樓梯時(shí)，由于重心波動(dòng)導(dǎo)致輪椅座椅是傾斜的，而這則會(huì)使乘坐者感到不舒服。所以為了消除這個(gè)弊端，我查閱了相關(guān)文獻(xiàn)，最終設(shè)計(jì)了一種滑軌式的座椅調(diào)平機(jī)構(gòu)。其中主要由圓弧形軌道和滾軸組成，其中圓弧形軌道的弧度取120，軌道焊接在輪椅底部的支架上（位置關(guān)系如圖2.4所示）。 圖2.4 滑軌與輪椅座椅位置關(guān)系 。在其軸端裝有滾動(dòng)軸承，使其可以在滑軌中滑動(dòng)以實(shí)現(xiàn)座椅的調(diào)平，具體結(jié)構(gòu)如圖2.5所示。 圖2.5 滾道滑軌式座椅調(diào)平機(jī)構(gòu)圖軸承選用滾動(dòng)軸承6204 GB/T 2761994，以下對(duì)滾軸軸端進(jìn)行校核，主要是校核軸端的彎曲應(yīng)力及切應(yīng)力。因?yàn)?5號(hào)鋼的綜合力學(xué)性能良好，所以該滾軸材料采用45號(hào)鋼并進(jìn)行調(diào)質(zhì)處理，取該滾軸軸端直徑，并對(duì)其進(jìn)行校核。受力簡(jiǎn)圖如下圖2.6所示： 800N 20cm20cm A B 400N 400N 圖2.6 滾軸兩軸端受力簡(jiǎn)圖校核滾軸軸端的正應(yīng)力強(qiáng)度，可得軸端最大彎矩值為： 通過(guò)查閱相關(guān)資料得知圓形截面的彎曲截面系數(shù)公式為： （25）把以上相關(guān)數(shù)據(jù)代入式解得： 最大正應(yīng)力的計(jì)算公式為： （26）把以上相關(guān)數(shù)據(jù)代入式解得： 校核滾軸軸端的切應(yīng)力強(qiáng)度，從圖中可知： 通過(guò)查閱相關(guān)資料得知最大切應(yīng)力公式為： （27）把以上相關(guān)數(shù)據(jù)代入式解得： 綜上所述，當(dāng)滾軸軸端直徑時(shí)，滾軸軸端的正應(yīng)力和切應(yīng)力強(qiáng)度均滿足要求，所以是安全的。 3 電氣系統(tǒng)總體方案設(shè)計(jì)根據(jù)平地或爬樓等不同實(shí)際環(huán)境下的具體要求，參考國(guó)標(biāo) GB129961991電動(dòng)輪椅車(chē)標(biāo)準(zhǔn)，確定控制系統(tǒng)的相關(guān)參數(shù)。國(guó)標(biāo)標(biāo)準(zhǔn)中對(duì)電動(dòng)輪椅車(chē)的主要技術(shù)性能規(guī)定如表所示。 表3.1 電動(dòng)輪椅國(guó)家標(biāo)準(zhǔn)項(xiàng)目?jī)?nèi)容性能指標(biāo)室內(nèi)型室外型速度（km/h）4.56.0爬坡能力88一次充電最大行程（km）1020 參考表3.1確定本輪椅的技術(shù)指標(biāo)如下：平地時(shí)最大運(yùn)行速度為，最大爬樓速度為每分鐘個(gè)臺(tái)階。該電動(dòng)輪椅攜帶蓄電池自主供電。3.1 電機(jī)的選擇3.1.1 電機(jī)類型選擇 考慮到電動(dòng)輪椅的戶外使用條件，我們需要選擇永勵(lì)直流電機(jī)。該電機(jī)根據(jù)有無(wú)機(jī)械換向裝置可分為有刷直流電機(jī)和無(wú)刷直流電機(jī)。無(wú)刷直流電機(jī)具有以下優(yōu)點(diǎn)：屬于靜態(tài)電機(jī)，電機(jī)空載時(shí)的電流??；（1） 利用電子換向來(lái)代替?zhèn)鹘y(tǒng)的機(jī)械換向，其性能優(yōu)良、磨損較小、故障率低；（2）電機(jī)體積較小。（3） 電機(jī)傳動(dòng)效率相對(duì)較高；（4）但是雖然目前電動(dòng)輪椅大部分都是采用無(wú)刷直流電機(jī)作為驅(qū)動(dòng)電機(jī)，并且還有很多相應(yīng)的控制器。但其還有如下缺點(diǎn)：低速啟動(dòng)時(shí)會(huì)有輕微的振動(dòng)；（1）（2） 電機(jī)價(jià)格較高，相應(yīng)的控制器結(jié)構(gòu)復(fù)雜，成本也高；（3） 容易形成共振。變速相對(duì)平穩(wěn)，幾乎感覺(jué)不到振動(dòng)；而相比于無(wú)刷直流電機(jī)，有刷直流電機(jī)則具有以下優(yōu)點(diǎn)：升溫慢，可靠性好；（1）價(jià)格比無(wú)刷直流電機(jī)便宜，控制器結(jié)構(gòu)也簡(jiǎn)單。（2）（3）基于有刷直流電機(jī)的平穩(wěn)可靠性以及低成本，本電動(dòng)爬樓輪椅最終選用有刷直流電機(jī)。同時(shí)也要注意碳刷的保養(yǎng)，以及及時(shí)更換碳刷。3.1.2 電機(jī)功率計(jì)算爬樓梯電動(dòng)輪椅的運(yùn)動(dòng)形式可分為平地行駛、爬坡運(yùn)動(dòng)和爬樓梯三種形式，根據(jù)不同的運(yùn)動(dòng)狀況，采用理想狀態(tài)下的假設(shè)情況來(lái)計(jì)算電機(jī)所需的功率。根據(jù)具體設(shè)計(jì)要求確定該輪椅的具體參數(shù)如下：輪椅總重量：60kg以下；輪椅承重量：80kg以下；平地行駛最大速度：最大爬坡角度：20；此時(shí)最大速度為：爬樓梯速度：1. 行走功率計(jì)算取平地運(yùn)動(dòng)時(shí)的滾動(dòng)摩擦系數(shù)取0.03，重力加速度g取，則所需的電機(jī)功率為：2.爬坡功率計(jì)算 假設(shè)爬坡時(shí)的最大坡度為20，爬坡速度為0.3m/s，此時(shí)電機(jī)的功率為：3.爬樓功率計(jì)算 爬樓梯的動(dòng)作實(shí)際上就是將整體質(zhì)量往上一級(jí)臺(tái)階抬升的過(guò)程，輪椅在爬樓過(guò)程中需要克服車(chē)體和人的重力進(jìn)行做功。經(jīng)初步估計(jì)爬樓過(guò)程中重力作用線與驅(qū)動(dòng)軸之間的垂直距離，所以計(jì)算所需克服的阻力矩為： 驅(qū)動(dòng)輪的角速度為：爬樓速度最大為，從而確定驅(qū)動(dòng)軸轉(zhuǎn)速為：爬樓所需功率為： 綜上所述：三種運(yùn)動(dòng)形式中爬坡時(shí)的功率最大，為142.8W，所以所選電機(jī)的額定總功率應(yīng)大于142.8W，所以我初步選用額定功率為144W的電機(jī)。3.1.3 電機(jī)相關(guān)參數(shù)經(jīng)計(jì)算所需扭矩及功率等參數(shù)，又綜合考慮質(zhì)量?jī)r(jià)格等諸多因素，最終我選用蘭州萬(wàn)里航空機(jī)電有限責(zé)任公司生產(chǎn)的輪椅車(chē)專用電機(jī)DGM4，具體相關(guān)參數(shù)見(jiàn)下圖及下表。 圖3.1 DGM4外形 圖3.2 電機(jī)輸出軸的接口尺寸 表3.2 DGM4電機(jī)參數(shù)電機(jī)類型永磁直流電動(dòng)機(jī)，直流24V離合器類型電磁離合器，直流24V額定電流6A空載電流最大3.3A最大輸出功率65R/M時(shí)230W持續(xù)扭矩1.1Nm/A最大扭矩使用40A控制器時(shí)44Nm使用50A控制器時(shí)55Nm離合器制動(dòng)扭矩輸出軸，大于50Nm輸出軸空載轉(zhuǎn)速正常120RPM減速比i32.88絕緣等級(jí)F重量5.5kg電機(jī)殼體顏色黑色推薦輪子尺寸31.75cm (12.5)該電動(dòng)機(jī)構(gòu)由具有電磁離合器（制動(dòng)）裝置的永磁電動(dòng)機(jī)和具有一級(jí)直齒和一級(jí)蝸輪蝸桿副傳動(dòng)的全封閉變速箱組成。蝸輪蝸桿副傳動(dòng)對(duì)于爬樓裝置來(lái)說(shuō)，可以實(shí)現(xiàn)自鎖，這對(duì)爬樓這一動(dòng)作提供了安全保障。通過(guò)計(jì)算平地行駛電機(jī)，爬樓翻轉(zhuǎn)電機(jī)均可以是DG-M4。3.2 蓄電池選擇 為滿足爬樓電動(dòng)輪椅的使用要求，本輪椅必須能實(shí)現(xiàn)自主供電，所以決定采用蓄電池作為輪椅供電電源。電池的種類根據(jù)使用次數(shù)不同大致上可以分為一次電池和二次電池。一次電池就是指只能使用一次而不可再補(bǔ)充能量的電池；而可以重復(fù)補(bǔ)充能量的電池就稱為二次電池。由于爬樓電動(dòng)輪椅的電池是需要重復(fù)使用的以及從環(huán)保的角度來(lái)想，所以本次設(shè)計(jì)決定采用二次電池即蓄電池。二次電池的種類也相當(dāng)多，其中包括鎳錫電池、鎳氫電池、鋰離子電池等等?？紤]到電池的容量、電壓的大小、使用壽命等因素，本次設(shè)計(jì)選用鋰離子電池。經(jīng)查閱相關(guān)資料，得知鋰離子電池有以下優(yōu)點(diǎn)：（1） 能量密度高，其體積能量密度和質(zhì)量能量密度分別可達(dá)450W.h/和150W.h/kg，而且還在不斷提高；（2） 平均輸出電壓高，為Ni-Cd、Ni-MH電池的3倍；（3） 自放電量小，平均每月少于10，小于Ni-Cd，Ni-MH的一半；（4） 可以快速的充電和放電，充電容量高達(dá)額定容量的80；（5） 工作溫度范圍寬，-30+45，隨著電解液和正負(fù)極的改善，有希望能擴(kuò)展至，低溫可擴(kuò)展至；（6） 電池殘留容量檢測(cè)更方便；無(wú)需維護(hù)，使用壽命長(zhǎng)，對(duì)環(huán)境污染較小。最終選擇型號(hào)GXM3610B2的鋰離子電池。其主要參數(shù)如表3.4所示。 表3.4 鋰電池主要參數(shù) 額定電壓電池容量最大放電電流工作溫度24V20Ah1015A-2055 3.3 控制系統(tǒng)設(shè)計(jì)3.3.1 電機(jī)驅(qū)動(dòng)原理 電機(jī)速度控制系統(tǒng)中常用的方法是速度負(fù)反饋法，這種控制方法可以得到良好的調(diào)節(jié)速度性能。在電機(jī)控制系統(tǒng)中，檢測(cè)電機(jī)的轉(zhuǎn)速通常使用速度傳感器，但其成本相對(duì)較高。由于本控制系統(tǒng)的速度控制過(guò)程要求不高，所以可以使用電壓負(fù)反饋法來(lái)估算電機(jī)的轉(zhuǎn)速大小。電壓負(fù)反饋法雖然可以較為精確的控制電機(jī)調(diào)速，但其控制系統(tǒng)的動(dòng)態(tài)性能卻不夠理想。因此，為了得到良好的電機(jī)調(diào)速性能，通過(guò)查閱資料選取了5個(gè)N溝道MOSFET管搭建的H橋電路進(jìn)行控制，其原理圖如3.3所示，其中，V+、V-分別為電機(jī)兩端電壓。電機(jī)正常運(yùn)轉(zhuǎn)時(shí)，將V+、V-電壓值送入單片機(jī)，計(jì)算后可得出電樞電壓，即。然后通過(guò)計(jì)算電阻R兩端的電壓差即可計(jì)算出電機(jī)的轉(zhuǎn)速大小。圖3.3 調(diào)速系統(tǒng)原理圖 從圖中可以看出，當(dāng)M1、M4、M5導(dǎo)通時(shí)，M3、M2關(guān)斷，此時(shí)電機(jī)為正轉(zhuǎn)即下樓過(guò)程；當(dāng)M2、M3導(dǎo)通時(shí)，M1、M4、M5關(guān)斷，此時(shí)電機(jī)反轉(zhuǎn)即上樓過(guò)程。3.3.2 電機(jī)調(diào)速原理為了更好的控制電機(jī)轉(zhuǎn)速，通過(guò)查閱資料我找到了由東莞市杰勝電機(jī)有限公司生產(chǎn)的直流調(diào)速器，主要通過(guò)改變輸出占空比，從而改變電機(jī)轉(zhuǎn)速。其相關(guān)產(chǎn)品信息及參數(shù)見(jiàn)下圖。圖3.4 調(diào)速器外觀圖表3.5 調(diào)速器相關(guān)參數(shù)產(chǎn)品信息品名直流調(diào)速器型號(hào)JS30AB電壓DC 12V50V最大電流30A功率支持01.5kW調(diào)速范圍0100%尺寸3783110mm 圖3.5 調(diào)速器內(nèi)部結(jié)構(gòu)圖 該直流調(diào)速器有以下注意事項(xiàng)：（1）直流調(diào)速板調(diào)速器輸入為直流，不能直接連接交流電（如：家用電220V）；（2）直流電源正負(fù)極不能接反，否則會(huì)損壞調(diào)速器；（3）電動(dòng)機(jī)可以不分正負(fù)極，當(dāng)行駛方向和期望不一致時(shí)，可以通過(guò)跳線順序改變方向；（4）電位器調(diào)節(jié)旋鈕可通過(guò)改變調(diào)速器輸出占空比來(lái)改變電機(jī)的轉(zhuǎn)速；根據(jù)直流電機(jī)轉(zhuǎn)速方程：（5）該調(diào)速器只能用于直流有刷電機(jī)的速度控制，不適用于無(wú)刷直流電機(jī)的轉(zhuǎn)速控制，也不能作為調(diào)壓器或穩(wěn)壓器使用。 （31）可推導(dǎo)出有三種方法調(diào)節(jié)電動(dòng)機(jī)的轉(zhuǎn)速：（1） 調(diào)節(jié)電樞電壓；（2） 改變勵(lì)磁磁通量；（3） 改變電樞回路電阻。 對(duì)于需要在一定范圍內(nèi)無(wú)級(jí)調(diào)速的系統(tǒng)來(lái)說(shuō)，最好是調(diào)整電壓。改變電樞電阻只能是有級(jí)調(diào)速，而勵(lì)磁磁通的調(diào)速范圍不大。因此，直流調(diào)速系統(tǒng)的自動(dòng)控制通常由電壓調(diào)節(jié)為主。 直流調(diào)速器的控制原理是控制原理，是通過(guò)改變功率管的通斷時(shí)間來(lái)改變電機(jī)的電樞電壓，然后改變電樞上的占空比來(lái)實(shí)現(xiàn)電機(jī)轉(zhuǎn)速調(diào)節(jié)。因此，該裝置也稱為“開(kāi)關(guān)驅(qū)動(dòng)裝置”。的輸出波形如圖3.6所示，周期為，一個(gè)周期內(nèi)的導(dǎo)通時(shí)間為，則加在電機(jī)兩端的平均電壓為： （32）其中，稱為占空比，為電源電壓。 圖3.6 原理圖由式可知直流電機(jī)的轉(zhuǎn)速與電機(jī)兩端電壓成正比，而電機(jī)兩端的電壓與控制波形的占空比成正比，所以控制波形的占空比越大，電機(jī)轉(zhuǎn)速越快。3.3.3 PLC控制系統(tǒng)1. 輸入/輸出分配表 表3.6 輪椅平地，爬樓行駛控制的PLC輸入/輸出分配情況輸入輸出輸入繼電器輸入元件作用輸出繼電器輸出元件作用X00平地啟動(dòng)按鈕Y00平地行駛X01爬樓啟動(dòng)按鈕Y01爬樓過(guò)程X02停止按鈕2. 硬件接線圖3.7 PLC的外部硬件接線圖3. 梯形圖 圖3.8 電動(dòng)爬樓輪椅電機(jī)控制程序梯形圖按下SB1時(shí)，輸入繼電器X00接通，平地行駛電機(jī)啟動(dòng)；按下SB2時(shí)，輸入繼電器X01接通，爬樓電機(jī)啟動(dòng)。當(dāng)遇到平地行駛或爬樓情況時(shí)，只需啟動(dòng)對(duì)應(yīng)的電機(jī)即可，兩個(gè)電機(jī)不能同時(shí)工作，它們之間形成互鎖關(guān)系。3.3.4 PLC相關(guān)參數(shù)通過(guò)查閱資料，我最終選取了深圳市智力機(jī)電設(shè)備有限公司生產(chǎn)的可編程控制器FBsPLC。該系列的PLC指令超過(guò)300種以上，并采用最人性化，可讀性最高之多輸入/多輸出指令格式，一個(gè)指令即可達(dá)成大部分其它牌PLC數(shù)個(gè)指令才能做到的功能，使程式大為精簡(jiǎn)，同時(shí)運(yùn)算結(jié)果可直接由內(nèi)部或外部輸出取得。所選擇的PLC相關(guān)參數(shù)如下表及下圖所示：表3.7 FBs10MAC的主要參數(shù)型號(hào)規(guī)格FBs10MAC6點(diǎn)24VDC數(shù)字輸入(2點(diǎn)高速100KHz,2點(diǎn)中速20KHz,2點(diǎn)中速總和5KHz)；4點(diǎn)繼電器或晶體管輸出（2點(diǎn)高速100KHz,2點(diǎn)中速20KHz）；一個(gè)RS232或USB通訊端口（最大可擴(kuò)至3個(gè)）；I/O不可擴(kuò)充。圖3.9 FBs10MAC外觀圖4 傳動(dòng)部件的設(shè)計(jì) 該爬樓輪椅主要由電機(jī)，傳動(dòng)裝置和工作裝置等組成。傳動(dòng)裝置位于電機(jī)和工作裝置之間，其作用是傳遞動(dòng)力，并改變轉(zhuǎn)速和轉(zhuǎn)矩，以滿足工作裝置所需的工作要求。所以傳動(dòng)裝置對(duì)整個(gè)爬樓輪椅的性能、重量、尺寸和造價(jià)都有很大的影響，因此應(yīng)合理的擬定傳動(dòng)方案。 根據(jù)爬樓梯輪椅的要求，我們應(yīng)該考慮到爬樓梯輪椅的功能、尺寸、重量、工作環(huán)境條件、成本、工作壽命和性價(jià)比等等。電動(dòng)爬樓梯輪椅傳動(dòng)方式的選擇理由如下：（1）充分考慮提高傳動(dòng)效率，降低能耗，齒輪傳動(dòng)方式可保證傳動(dòng)比的恒定；而且其工作壽命長(zhǎng)，結(jié)構(gòu)緊湊，傳動(dòng)效率高。（2）在爬樓過(guò)程中，傳動(dòng)要求嚴(yán)格，輪椅結(jié)構(gòu)要求緊湊，爬樓速度要求較低，所以最終選擇齒輪傳動(dòng)。本輪椅采用的是行星輪系的傳動(dòng)機(jī)構(gòu),該傳動(dòng)機(jī)構(gòu)在前進(jìn)過(guò)程中行駛電機(jī)1通過(guò)中心軸驅(qū)動(dòng)中心輪帶動(dòng)行星輪轉(zhuǎn)動(dòng)從而驅(qū)動(dòng)輪椅前進(jìn)；通過(guò)翻轉(zhuǎn)電機(jī)2帶動(dòng)行星架實(shí)現(xiàn)爬樓梯動(dòng)作。其傳動(dòng)機(jī)構(gòu)簡(jiǎn)圖如圖4.1所示。圖4.1 行星輪系傳動(dòng)機(jī)構(gòu)簡(jiǎn)圖4.1 傳動(dòng)系統(tǒng)動(dòng)力參數(shù)計(jì)算由表常用傳動(dòng)的單級(jí)傳動(dòng)比推薦值可得出：取該爬樓輪椅翻轉(zhuǎn)機(jī)構(gòu)的齒輪傳動(dòng)比類型平帶傳動(dòng)V帶傳動(dòng)圓柱齒輪傳動(dòng)圓錐齒輪傳動(dòng)蝸桿蝸輪傳動(dòng)鏈傳動(dòng)推薦值242436直齒23104025最大值5710直齒6807 表 常用機(jī)械傳動(dòng)的單級(jí)傳動(dòng)比推薦值1.各軸轉(zhuǎn)速假設(shè)在爬樓過(guò)程中輸出軸為軸，車(chē)輪軸為1軸。2. 各軸輸入功率按電動(dòng)機(jī)額定功率計(jì)算各軸輸入功率，即 其中：為電機(jī)與輸出軸間的傳動(dòng)效率 為圓柱齒輪的傳動(dòng)效率3.各軸轉(zhuǎn)矩 為滾動(dòng)軸承的傳動(dòng)效率4.2 齒輪傳動(dòng)的設(shè)計(jì)1.選擇齒輪的材料，熱處理方式及其精度等級(jí)（1）考慮到爬樓輪椅為一般工作機(jī)器，速度不高，故齒輪選用級(jí)精度 因?yàn)閭鬟f功率不大，轉(zhuǎn)速不高，所以選用軟齒面齒輪傳動(dòng)（3）小齒輪：號(hào)鋼（調(diào)質(zhì)），硬度為 大齒輪：號(hào)鋼（正火），硬度為2. 按齒面接觸疲勞強(qiáng)度初步計(jì)算齒輪齒數(shù)因?yàn)殡妱?dòng)爬樓輪椅傳動(dòng)機(jī)構(gòu)處于封閉狀態(tài)且載荷沖擊不大，所以傳動(dòng)齒輪選用閉式軟齒面齒輪，故先按齒面接觸疲勞強(qiáng)度進(jìn)行設(shè)計(jì)，得出以下公式： （41） 式中各參數(shù)選擇如下： （1） 試選載荷系數(shù)（2） 小齒輪的轉(zhuǎn)矩（3） 按機(jī)械設(shè)計(jì)課本取齒寬系數(shù)（4） 傳動(dòng)比（5） 取，（7）許用接觸應(yīng)力計(jì)算式如下：（6） 對(duì)于標(biāo)準(zhǔn)齒輪取2.5，查閱課本得彈性影響系數(shù) （42）由應(yīng)力循環(huán)次數(shù)公式：通過(guò)查閱課本可知接觸疲勞極限 （43）其中：j=1，為齒輪的工作壽命，取代入式得：查閱課本得接觸疲勞壽命系數(shù)取安全系數(shù)把以上數(shù)據(jù)代入式則得：所以取根據(jù)以上，把數(shù)據(jù)代入式得：3. 確定傳動(dòng)尺寸（1） 計(jì)算圓周速度所以齒輪選用級(jí)精度合適（2） 計(jì)算載荷系數(shù)由課本可知載荷系數(shù)的計(jì)算公式如下： （44）其各畢業(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(shū)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(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(mén)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(mén)操作桿表示閥門(mén)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（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(chē)輛的車(chē)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(kāi)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） 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(kāi)始攻堅(jiān)這個(gè)領(lǐng)域，通過(guò)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(lái)，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(wèn)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(lái)越多，公園的臺(tái)階，沒(méi)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(lái)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(wú)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(lái)適應(yīng)現(xiàn)代社會(huì)環(huán)境。 近年來(lái)，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(lái)說(shuō)，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