基于双平行四边形机构多姿态轮椅的设计

doi:10.3969/j.issn.1006-9771.2020.10.014

《中国康复理论与实践》 ›› 2020, Vol. 26 ›› Issue (10): 1204-1208.doi: 10.3969/j.issn.1006-9771.2020.10.014

基于双平行四边形机构多姿态轮椅的设计

苏宏伦¹,王思锴²,胡湘宇²,苏鹏^1,²(),樊瑜波¹()

1.国家康复辅具研究中心,民政部康复辅具技术与系统重点实验室,北京市 100176
2.北京信息科技大学机电工程学院,北京市 100192

收稿日期:2019-12-09 修回日期:2019-12-14 出版日期:2020-10-25 发布日期:2020-10-29
通讯作者: 苏鹏,樊瑜波 E-mail:supeng@bistu.edu.cn;yubofan@buaa.edu.cn
作者简介:苏宏伦(1977-),男,汉族,河北石家庄市人,博士,助理研究员,主要研究方向：康复辅具技术。
基金资助:
1.四川省科技计划项目(2018SZ0035);2.中国博士后科学基金项目(2018M641290);3.北京市属高校"青年拔尖人才"培育项目(CIT&TCD201704063);4.国家康复辅具研究中心基本科研业务费项目专项经费资助项目(118009001000160001)

Design of Multimodality Wheelchair Based on Double Parallelogram Mechanism

SU Hong-lun¹,WANG Si-kai²,HU Xiang-yu²,SU Peng^1,²(),FAN Yu-bo¹()

1. Key Laboratory of Rehabilitation Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China
2. School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China

Received:2019-12-09 Revised:2019-12-14 Published:2020-10-25 Online:2020-10-29
Contact: SU Peng,FAN Yu-bo E-mail:supeng@bistu.edu.cn;yubofan@buaa.edu.cn
Supported by:
Sichuan Science and Technology Program(2018SZ0035);China Postdoctoral Science Foundation Project(2018M641290);Training Plan of Young Top-notch Talent by Beijing Municipal Education Commission(CIT&TCD201704063);National Rehabilitation Auxiliary Equipment Research Center Basic Scientific Research Operating Expenses Project Special Funds(118009001000160001)

摘要/Abstract

摘要：

目的设计一种多姿态轮椅,以满足下肢功能障碍者的多种使用需求。
方法针对现有多姿态轮椅结构笨重、驱动冗余等缺点,基于双平行四边形机构,提出一种简单、可靠的多姿态轮椅机构形式。旋转驱动正反转驱动双平行四边形机构带动轮椅各部分运动,实现三姿态变换,其中,椅背和腿托耦合运动实现坐姿与仰卧姿态的变换,椅座和椅背耦合运动实现坐姿与站立姿态的变换。对轮椅进行基于均布载荷的力学分析,计算旋转力矩。
结果从坐姿变换为仰卧姿态时,驱动力矩随着转动角度的增大而增大,并达到一个峰值;从坐姿变换为站立姿态时,驱动力矩随着转动角度增大而逐渐减小。在Adams软件中进行动力学仿真验证,计算结果与仿真结果基本一致。
结论该轮椅机构有助于实现多姿态轮椅的轻量化设计,满足智能多功能轮椅的设计需求。

关键词: 双平行四边形机构, 轮椅, 多姿态, 旋转驱动, 轻量化

Abstract:

Objective To design a multimodality wheelchair in order to meet many use requirements of the lower limbs dyskinesia patients.
Methods For some shortcomings of the existing multimodality wheelchair such as heavy structure and drive redundancy, the design of multimodality wheelchair based on double parallelogram mechanism is studied, and a simple and reliable multimodality wheelchair mechanism is presented. Rotary actuation drives the double parallelogram mechanism and makes parts of the wheelchair move, and three posture transformations are realized. The coupling movement of the back and leg rest realizes the transformation of sitting and supine posture, and the coupling movement of seat and back realizes the change of sitting and standing posture. The mechanical analysis of wheelchairs based on uniform load was carried out, and the rotation moment is calculated.
Results When the driving torque changed from sitting position to supine position, it increased with the increase of rotation angle and reached a peak value. When the driving torque changed from sitting position to standing position, it gradually decreased with the increase of rotation angle. Then the dynamics simulation is carried out in Adams software, the calculated results were basically consistent with the simulation results.
Conclusion The proposed mechanism is helpful to realize the lightweight design of multimodality wheelchair, and meets the design needs of intelligent multimodality wheelchair.

Key words: parallelogram mechanism, wheelchair, multimodality, rotary actuation, lightweight

中图分类号:

R496

苏宏伦,王思锴,胡湘宇,苏鹏,樊瑜波. 基于双平行四边形机构多姿态轮椅的设计[J]. 《中国康复理论与实践》, 2020, 26(10): 1204-1208.

SU Hong-lun,WANG Si-kai,HU Xiang-yu,SU Peng,FAN Yu-bo. Design of Multimodality Wheelchair Based on Double Parallelogram Mechanism[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2020, 26(10): 1204-1208.

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人体参数	双足	小腿	大腿	躯干	头颈	上肢	总体质量
质量(kg)	2.59	7.49	14.00	33.92	5.50	6.50	70.00
占比(%)	3.70	10.70	20.00	48.50	7.90	9.20	100.00

时间(s)	坐姿到仰卧姿态	坐姿到站立姿态
0	0	2.12
3	0.39	2.01
6	0.74	1.71
9	1.02	1.24
12	1.20	0.65
15	1.27	0

基于双平行四边形机构多姿态轮椅的设计

Design of Multimodality Wheelchair Based on Double Parallelogram Mechanism

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