TWI401070B - Stewart platform seat mechanism and controlling method thereof for intelligent robotic wheelchair - Google Patents
Stewart platform seat mechanism and controlling method thereof for intelligent robotic wheelchair Download PDFInfo
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Description
本發明是有關於一種輪椅的座椅機構，且特別是有關於一種智慧型機器人輪椅之史都華平台(Steward Platform)座椅機構設計的座椅機構。The present invention relates to a seat mechanism for a wheelchair, and more particularly to a seat mechanism designed for a Steward Platform seat mechanism of a smart robotic wheelchair.
對於行動不便的人，例如身障者、老年人等，使用輪椅可以協助其行動，然而對於某些上肢力量不足的使用者或是高齡者，由於本身無法自行推動輪椅，使用電動輪椅就是一個可能的選擇。只是電動輪椅的操控方式困難度仍然相當高，對大部分使用者來說，在使用上仍具有困難。為了改進這些輪椅操作上的困難，近年來輪椅的研究方向上開始將輪椅由完全被動、由使用者操控，轉變至使輪椅本身擁有類似機器人之感測、判斷能力。For people with limited mobility, such as the disabled, the elderly, etc., the use of wheelchairs can assist in their actions. However, for some users with insufficient upper limb strength or elderly people, the use of electric wheelchairs is a possible option because they cannot promote their own wheelchairs. . However, the difficulty of controlling the electric wheelchair is still quite high, and for most users, it is still difficult to use. In order to improve the operation difficulties of these wheelchairs, in recent years, the research direction of wheelchairs has begun to shift the wheelchair from completely passive and user-controlled, so that the wheelchair itself has the ability to sense and judge similar robots.
最早在1995年，美國MITRE公司的兩位工程師Miller和Slack在研究文獻中提出“robotic wheelchair”這個名詞，他們的論文中描述了兩個robotic wheelchair的原型，將原先使用在機器人身上的各項感測、導航技術，應用在輪椅操作上，能夠輔助操作者迴避障礙物、到達預定地點、穿過擁擠環境等[Miller and Slack,1995]，開創了「機器人輪椅(robotic wheelchair)」的研究領域。In 1995, Miller and Slack, two engineers at MITRE in the United States, proposed the term "robotic wheelchair" in their research literature. Their papers describe the prototypes of two robotic wheelchairs, which are used in robots. The measurement and navigation technology, applied to wheelchair operations, can help operators avoid obstacles, reach predetermined locations, and pass through crowded environments [Miller and Slack, 1995], creating the research field of "robotic wheelchairs".
只是目前廠商的研究方向大多著重於硬體結構開發，如坐墊、遮陽棚、輪圈、煞車結構等。有開發座椅機構之部分則是供使用者做姿勢變化，最多的部分在椅背、腳靠調整以及座墊調整，其電墊調整主要是上下高度的調整，而沒有左右橫移的功能。However, most of the current research directions of manufacturers focus on the development of hardware structures, such as seat cushions, awnings, rims, and brake structures. The part that develops the seat mechanism is for the user to make posture changes. The most part is the backrest, the footrest adjustment and the seat cushion adjustment. The electric pad adjustment is mainly the adjustment of the upper and lower heights, and there is no left and right traverse function.
本發明提供一種智慧型機器人輪椅之史都華平台座椅機構設計，將史都華平台的機構應用於輪椅上，設計一種四軸的史都華平台座椅機構，其具有輕量性、高剛性、多自由度調整的效果。The invention provides a smart robot wheelchair Schroder platform seat mechanism design, the Stewart platform mechanism is applied to a wheelchair, and a four-axis Stewart platform seat mechanism is designed, which is lightweight and high. The effect of rigidity and multi-degree of freedom adjustment.
本發明提出一種智慧型機器人輪椅之史都華平台座椅機構，包括可動板、固定架與四支可變長度連桿。固定架具有一第一接點、一第二接點、一第三接點與一第四接點，其中第一接點與第二接點位於可動板的上方，第三接點與第四接點位於可動板的下方。第一可變長度連桿的第一端樞接於第一接點，其第二端樞接於可動板。第二可變長度連桿的第一端樞接於第二接點，其第二端樞接於可動板。第三可變長度連桿的第一端樞接於可動板，其第二端樞接於第三接點。第四可變長度連桿的第一端樞接於可動板，其第二端樞接於第四接點。固定架具有底座與側立架，第一接點與該二接點位於側立架上，第三接點與第四接點位於底座上。其中，該可動板的位置係隨該第一至第四可變長度連桿的長度改變。The invention provides a smart robot wheelchair of the Stewart platform seat mechanism, which comprises a movable plate, a fixed frame and four variable length connecting rods. The fixing frame has a first contact, a second contact, a third contact and a fourth contact, wherein the first contact and the second contact are located above the movable plate, and the third contact and the fourth The contacts are located below the movable plate. The first end of the first variable length link is pivotally connected to the first contact, and the second end of the first variable length link is pivotally connected to the movable plate. The first end of the second variable length link is pivotally connected to the second contact, and the second end of the second variable length link is pivotally connected to the movable plate. The first end of the third variable length link is pivotally connected to the movable plate, and the second end thereof is pivotally connected to the third contact. The first end of the fourth variable length link is pivotally connected to the movable plate, and the second end thereof is pivotally connected to the fourth contact. The fixing frame has a base and a side stand, the first contact and the second contact are located on the side stand, and the third contact and the fourth contact are located on the base. Wherein, the position of the movable plate changes with the length of the first to fourth variable length links.
在本發明一實施例中，上述可變長度連桿的一端係經由球接頭連接至可動板，經由萬向接頭連接至固定架。反之，可變長度連桿也可經由萬向接頭連接至可動板，經由球接頭連接至固定架。另外，上述可變長度連桿的兩端可以使用相同的萬向接頭或球接頭樞接至可動板與固定板。固定架具有第一限位件與第二限位件，分別設置於第一接點與第二接點的下方，第一限位件具有第一承靠斜面以限制第一可變長度連桿的傾斜角度；第二限位件具有第二承靠斜面以限制第二可變長度連桿的傾斜角度。座椅機構中更包括一麥凱倫輪(Mecanum Wheel)組設置於該固定架的下方。In an embodiment of the invention, one end of the variable length link is connected to the movable plate via a ball joint, and is connected to the fixed frame via a universal joint. Conversely, the variable length link can also be connected to the movable plate via a universal joint and to the fixed frame via a ball joint. In addition, both ends of the variable length link may be pivotally connected to the movable plate and the fixed plate by using the same universal joint or ball joint. The fixing frame has a first limiting member and a second limiting member respectively disposed under the first contact and the second contact, the first limiting member having a first bearing inclined surface to limit the first variable length connecting rod The angle of inclination of the second limiting member has a second bearing slope to limit the angle of inclination of the second variable length link. The seat mechanism further includes a Mecanum Wheel set disposed below the mount.
綜合上述，本發明所提出的輪椅的座椅機構，具有四軸的驅動機構，利用四支可變長度的連桿來調整座墊的位置與高度，使座墊可以具有左右橫移、前後移動與翻轉等調整功能，讓使用者可以更為便利。本發明之輪椅的座椅機構具有高剛性、多自由度與輕量化等優點。In summary, the seat mechanism of the wheelchair provided by the present invention has a four-axis drive mechanism, and four variable length links are used to adjust the position and height of the seat cushion, so that the seat cushion can have left and right traverse, and move back and forth. Adjustment functions such as flipping make the user more convenient. The seat mechanism of the wheelchair of the present invention has the advantages of high rigidity, multiple degrees of freedom, and weight reduction.
為讓本發明之上述特徵和優點能更明顯易懂，下文特舉較佳實施例，並配合所附圖式，作詳細說明如下。The above described features and advantages of the present invention will be more apparent from the following description.
在下文中，將藉由圖式說明本發明之實施例來詳細描述本發明，而圖式中的相同參考數字可用以表示類似的元件。In the following, the invention will be described in detail by the embodiments of the invention, and the same reference numerals are used in the drawings.
圖1本發明一實施例的智慧型機器人輪椅之史都華平台座椅機構的示意圖。座椅機構100包括固定架110、可動板120與四支線性制動器141~144。固定架110包括底座112與側立架114，其中側立架114上具有兩個位於可動板120上方的接點11a、11b，底座112上具有兩個位於可動板120下方的接點11c、11d。可動板120上具有對應的四個接點12a、12b、12c、12d，其中接點12a、12b位於可動板120的第一側邊，而接點12a、12b則位於可動板120相對於第一側邊的第二側邊。線性制動器141的一端樞接於固定架110上的接點11a，另一端樞接於可動板120上的接點12 a；線性制動器142的一端樞接於固定架110上的接點11b，另一端樞接於可動板120上的接點12 b；線性制動器143的一端樞接於底座112上的接點11c，另一端樞接於可動板120上的接點12 c；線性制動器144的一端樞接於底座112上的接點11d，另一端樞接於可動板120上的接點12d。其中，在本實施例中，線性制動器141~144係用來實現可變長度連桿，可動板120的位置係可藉由線性制動器141~144的長度決定。值得注意的是，可變長度連桿可由其他方式實現，並不限制於使用線性制動器141~144。1 is a schematic view of a Stadford platform seat mechanism of a smart robotic wheelchair according to an embodiment of the present invention. The seat mechanism 100 includes a fixed frame 110, a movable plate 120, and four linear brakes 141 to 144. The fixing frame 110 includes a base 112 and two side stands 114. The side stand 114 has two contacts 11a, 11b above the movable plate 120. The base 112 has two contacts 11c and 11d below the movable plate 120. . The movable plate 120 has corresponding four contacts 12a, 12b, 12c, 12d, wherein the contacts 12a, 12b are located on the first side of the movable plate 120, and the contacts 12a, 12b are located on the movable plate 120 relative to the first The second side of the side. One end of the linear brake 141 is pivotally connected to the contact 11a on the fixed frame 110, and the other end is pivotally connected to the contact 12a on the movable plate 120; one end of the linear brake 142 is pivotally connected to the contact 11b on the fixed frame 110, and One end of the linear brake 143 is pivotally connected to the joint 11c on the base 112, and the other end is pivotally connected to the joint 12c of the movable plate 120; one end of the linear brake 144 The other end is pivotally connected to the contact point 12d on the movable plate 120. In the present embodiment, the linear brakes 141-144 are used to implement variable length links, and the position of the movable plate 120 can be determined by the length of the linear brakes 141-144. It is worth noting that variable length links can be implemented in other ways and are not limited to the use of linear brakes 141-144.
每一支線性制動器141~144的結構相同，而且每一支線性制動器141~144的兩端分別設置有球接頭與萬向接頭以對應樞接於可動板120與固定架110上。以線性制動器141為例，線性制動器141具有本體141a與軸向桿141b，軸向桿141b的一端位於本體141a並連接於本體141a。線性制動器141的軸向桿141b可沿著軸向位移以調整軸向桿141b伸出的長度。軸向桿141b的前端設置有球接頭151以樞接於可動板120上的接點12a。本體141a的底部具有萬向接頭161以樞接於側向架114上的接點11a。Each of the linear brakes 141 to 144 has the same structure, and both ends of each of the linear brakes 141 to 144 are respectively provided with a ball joint and a universal joint to be pivotally connected to the movable plate 120 and the fixed frame 110. Taking the linear brake 141 as an example, the linear brake 141 has a body 141a and an axial rod 141b, and one end of the axial rod 141b is located in the body 141a and is coupled to the body 141a. The axial rod 141b of the linear brake 141 is axially displaceable to adjust the length of the axial rod 141b. The front end of the axial rod 141b is provided with a ball joint 151 to be pivotally connected to the joint 12a on the movable plate 120. The bottom of the body 141a has a universal joint 161 to be pivotally connected to the joint 11a on the lateral frame 114.
同樣的，線性制動器142的軸向桿的前端具有球接頭152以樞接於可動板120上的接點12b，其本體的底部具有萬向接頭162以樞接於側向架114上的接點11b。線性制動器143的軸向桿的前端具有球接頭153以樞接於可動板120上的接點12c，其本體的底部具有萬向接頭163以樞接於底座112上的接點11c。線性制動器144的軸向桿的前端具有球接頭154以樞接於可動板120上的接點12d，其本體的底部具有萬向接頭164以樞接於底座112上的接點11d。Similarly, the front end of the axial rod of the linear brake 142 has a ball joint 152 for pivoting to the joint 12b of the movable plate 120, and the bottom of the body has a universal joint 162 for pivoting the joint on the lateral frame 114. 11b. The front end of the axial rod of the linear brake 143 has a ball joint 153 for pivoting to the joint 12c of the movable plate 120, and the bottom of the body has a universal joint 163 for pivoting to the joint 11c on the base 112. The front end of the axial rod of the linear brake 144 has a ball joint 154 for pivoting to the joint 12d on the movable plate 120, and the bottom of the body has a universal joint 164 for pivoting to the joint 11d on the base 112.
如圖1所示，四支線性制動器141~144連接至可動板120形成四軸的驅動機構。其中線性制動器141、142由可動板120上方連接至可動板120以提供懸吊的拉力至可動板120，線性制動器143、144由可動板120下方連接至可動板120以提供向上的支撐力至可動板120。線性制動器141~144可以承受軸向力(拉力或壓力)。可動板120的位置會隨著線性制動器141~144的長度改變。線性制動器141~144的長度與可動板120的位置之間的運算可以透過順向運動學(Forward kinematics)或逆向運動學(Inverse kinematics)來運算。As shown in FIG. 1, the four linear brakes 141 to 144 are connected to the movable plate 120 to form a four-axis drive mechanism. Wherein the linear brakes 141, 142 are connected to the movable plate 120 from above the movable plate 120 to provide a suspended pulling force to the movable plate 120, and the linear brakes 143, 144 are connected to the movable plate 120 from below the movable plate 120 to provide an upward supporting force to the movable plate 120 Board 120. The linear brakes 141 to 144 can withstand axial forces (pull or pressure). The position of the movable plate 120 changes with the length of the linear brakes 141 to 144. The calculation between the length of the linear brakes 141 to 144 and the position of the movable plate 120 can be calculated by Forward kinematics or Inverse kinematics.
在導入運動學之前，先建立兩個空間向量如下：Before importing kinematics, first create two space vectors as follows:
(1) Cartesian space[x ,y ,z ,α,β,γ]T ，其中[x ,y ,z ]表可動板原點的位置，[α,β,γ]為可動板與x ,y ,z 三軸的夾角。(1) Cartesian space[ x , y , z , α, β, γ] T , where [ x , y , z ] represents the position of the origin of the movable plate, [α, β, γ] is the movable plate and x , y , the angle between the three axes of z .
(2) Joint space[S 1 ,S 2 ,S 3 ,S 4 ]T ，其中S i 分別表示4支線性制動器的長度。(2) Joint space [ S 1 , S 2 , S 3 , S 4 ] T , where S i represents the length of the four linear brakes, respectively.
當運算從Joint space到Cartesian space屬於順向運動學，反之稱為逆向運動學。不過即使先決定四支線性致動器的長度，但因可動板120與線性制動器141~144連結的萬向接頭151~154有可能會呈現不同的方向，導致於可動板120的位置及角度不一，因此經由順向運動學的運算會產生多數解的現象。逆向運動學就沒有這種問題，先給定可動板120的座標及角度，經由運算得到四支線性致動器141~144的長度會是唯一解。因此，實務應用上，本實施例可動板120的定位方式較佳是採用逆向運動學的方式。When the operation from Joint space to Cartesian space belongs to forward kinematics, it is called reverse kinematics. However, even if the lengths of the four linear actuators are determined first, the universal joints 151 to 154 connected to the linear brakes 141 to 144 may have different directions, resulting in a position and an angle of the movable plate 120. First, the operation of the forward kinematics will produce a majority solution. Reverse kinematics does not have such a problem. First, given the coordinates and angle of the movable plate 120, the length of the four linear actuators 141-144 obtained by operation is the only solution. Therefore, in practical application, the positioning method of the movable plate 120 in this embodiment is preferably a reverse kinematic manner.
在本實施例中，可動板120可用來設置座墊，然後進行垂直高度調整、左右橫移調整與前後翻轉調整等功能。當線性致動器143、144縮短長度，線性致動器141、142伸長長度時，可達到座墊垂直高度往下降之效果。反之，當線性致動器141、142縮短長度，線性致動器143、144伸長長度時，可達到座墊垂直高度往上升之效果。當線性致動器141、143縮短長度，線性致動器142、144伸長長度，可達到座墊垂直高度不變，而往右橫移之效果。反之，當線性致動器141、143縮短長度，線性致動器142、144伸長長度，可達到座墊垂直高度不變，而往左橫移之效果。由上述可知，只要同一側邊的線性致動器(141、143或是142、144)同時增加長度或減少長度時，可動板120就會向另一邊橫移。當線性致動器143、144伸長長度，線性致動器141、142亦伸長長度，可達到座墊向後翻滾之效果。反之，當線性致動器143、144縮短長度，線性致動器141、142亦縮短長度，可達到座墊向前翻滾之效果。只要上方或下方的線性致動器(141、142或143、144)同時增加長度或減少長度，可動板120就會往前傾斜或往後傾斜。In this embodiment, the movable plate 120 can be used to set the seat cushion, and then perform functions such as vertical height adjustment, left and right lateral adjustment, and front and rear reverse adjustment. When the linear actuators 143, 144 are shortened in length and the linear actuators 141, 142 are elongated in length, the vertical height of the seat cushion can be lowered. Conversely, when the linear actuators 141, 142 are shortened in length and the linear actuators 143, 144 are elongated in length, the vertical height of the seat cushion can be raised. When the linear actuators 141, 143 are shortened in length, the linear actuators 142, 144 are elongated in length to achieve the effect that the vertical height of the seat cushion is constant and traversing to the right. Conversely, when the linear actuators 141, 143 are shortened in length, the linear actuators 142, 144 are elongated in length to achieve the effect that the vertical height of the seat cushion is constant and traversing to the left. As can be seen from the above, as long as the linear actuators (141, 143 or 142, 144) on the same side increase in length or decrease in length, the movable plate 120 is traversed to the other side. When the linear actuators 143, 144 are elongated in length, the linear actuators 141, 142 are also elongated in length to achieve the effect of the seat cushion rolling backward. Conversely, when the linear actuators 143, 144 are shortened in length, the linear actuators 141, 142 are also shortened in length to achieve the effect of the seat pad rolling forward. As long as the linear actuators (141, 142 or 143, 144) above or below are simultaneously increased in length or reduced in length, the movable plate 120 is tilted forward or backward.
由上述可知，只要線性致動器141~144的長度改變就可以使可動板120進行高度、傾斜與側向橫移等調整動作，其不同的長度組合與可動板120的位置關係可利用順向運動學或逆向運動學來推算，在經由上述實施例的說明後，本技術領域具有通常知識者應可輕易推知，在此不加累述。As can be seen from the above, as long as the lengths of the linear actuators 141 to 144 are changed, the movable plate 120 can be adjusted in height, inclination, and lateral traverse, and the positional relationship between the different length combinations and the movable plate 120 can be utilized. The kinematics or inverse kinematics are inferred, and it should be easily inferred by those skilled in the art after the description of the above embodiments, which will not be described here.
側立架141上設置有兩個限位件116、118，分別設置於接點11a、11b的下方。限位件116、118具有面向線性制動器的承靠斜面，用來限定線性制動器141、142的傾斜角度與其移動方向。以限位件116為例，請參照圖2，圖2為根據本實施例的限位件116示意圖。限位件116具有承靠斜面116a。線性制動器141會承靠在承靠斜面116a上而形成例如45度的傾斜角度，當線性制動器141左右位移時會受限於承靠斜面116a而沿著此承靠斜面116a移動。同理，線性制動器142會承靠在限位件118的承靠斜面上並形成例如45度的傾斜角度。在可動板120為水平的狀態下，線性制動器141、142也會與可動板120形成例如45度的夾角。由於限位件116、118會限制線性制動器141、142的傾斜角度與其移動方向，因此可以增加座墊的穩定性，避免在調整位置時產生晃動而造成使用者不舒服。The side stand 141 is provided with two limiting members 116, 118 respectively disposed under the contacts 11a, 11b. The stop members 116, 118 have bearing abutments facing the linear brakes for defining the angle of inclination of the linear actuators 141, 142 and the direction of movement thereof. For example, FIG. 2 is a schematic diagram of the limiting member 116 according to the embodiment. The limiting member 116 has a bearing surface 116a. The linear brake 141 will bear against the bevel 116a to form an angle of inclination of, for example, 45 degrees. When the linear brake 141 is displaced to the left and right, it is limited to the bearing bevel 116a and moves along the bearing bevel 116a. Similarly, the linear brake 142 will bear against the bearing slope of the limiting member 118 and form an angle of inclination of, for example, 45 degrees. In a state where the movable plate 120 is horizontal, the linear brakes 141, 142 also form an angle of, for example, 45 degrees with the movable plate 120. Since the limiting members 116, 118 limit the inclination angle of the linear brakes 141, 142 and the direction of their movement, the stability of the seat cushion can be increased, and the swaying when the position is adjusted can be avoided to cause discomfort to the user.
請參照圖1，在本實施例中，座椅機構100更包括設置於底座112的底側的輪子171~174，其輪子171~174可配合驅動馬達與控制裝置(未繪示)來進行驅動以移動整個座椅機構100。其中，輪子171~174可由四個麥凱倫輪(Mecanum Wheel)所形成的麥凱倫輪組來取代。請參照圖3A與圖3B，其繪示麥凱倫輪的結構示意圖。麥凱倫輪300的車輪外環具有與軸心成45度的自由滾子311，在車輪滾動時，地面會給予車輪與轉軸45度的摩擦力，此摩擦力可分為X分量與Y分量，藉由車輪的正反轉或停止，改變XY分量力的方向，可讓平台做各種方式的移動。四個麥凱倫輪設置的方式如圖4所示，圖4繪示麥凱倫輪組的設置方式示意圖。座椅機構400以簡圖示意，其下方設置有四個麥凱倫輪410~440所組成的麥凱倫輪組。其中，前方兩個麥凱倫輪410、420為一組，後方兩個麥凱倫輪430、440為一組。由其自由滾子411、421、431、441的設置方向是對稱的。藉由麥凱倫輪410~440的轉動方向可以讓座椅機構400具有平移與旋轉的全方位移動功能。Referring to FIG. 1 , in the embodiment, the seat mechanism 100 further includes wheels 171 174 174 disposed on the bottom side of the base 112 , and the wheels 171 174 174 can be driven by a driving motor and a control device (not shown). To move the entire seat mechanism 100. Among them, the wheels 171~174 can be replaced by the McLaren wheelset formed by four Mecanum Wheels. Please refer to FIG. 3A and FIG. 3B , which are schematic structural diagrams of the McLaren wheel. The outer ring of the wheel of the McLaren wheel 300 has a free roller 311 at 45 degrees to the axis. When the wheel rolls, the ground gives a frictional force of 45 degrees to the wheel. The friction can be divided into X component and Y component. By changing the direction of the XY component force by the positive or negative rotation or stop of the wheel, the platform can be moved in various ways. The way to set up the four McLaren wheels is shown in Figure 4. Figure 4 shows the layout of the McLaren wheel set. The seat mechanism 400 is schematically illustrated, and a McLaren wheel set consisting of four McLaren wheels 410-440 is disposed below. Among them, the front two McLaren wheels 410, 420 are a group, and the rear two McLaren wheels 430, 440 are a group. The direction in which the free rollers 411, 421, 431, 441 are disposed is symmetrical. The seat mechanism 400 can have an omnidirectional movement function of translation and rotation by the direction of rotation of the McLaren wheels 410-440.
此外，值得注意的是，上述線性制動器141~144是以兩軸在上，兩軸在下的方式分別設置於可動板120的上方與下方。接點11a與接點11b之間的距離大於接點12a與接點12b之間的距離。接點11c與接點11d之間的距離大於接點12c與接點12d之間的距離。因此，線性制動器141、142是由外側向內側方向且由上方連接至可動板120，而線性制動器143、144則是外側向內側方向且由下方連接至可動板120。值得注意的是，線性制動器141~144之間的傾斜角度可依照設計需求而定，本發明並不受限。固定架110呈現L型，但本發明的固定架110外型並不受限制。線性制動器141~144例如大銀微系統股份有限公司所出產的型號LAS3-1-1-150-24G的線性制動器，但本發明不限制線性制動器的類型。線性制動器141~144中可設置位置感測元件，例如光遮斷器位置回饋裝置，作為位置回授之用。線性制動器141~144可以由馬達驅動器(例如TOSHIBA,型號TA7257P)線性制動器141~144，並且根據其回饋裝置得知目前的長度為何以決定調整的速度與伸長的距離。Further, it is to be noted that the linear brakes 141 to 144 are disposed above and below the movable plate 120 in such a manner that the two shafts are on the upper side and the two axes are on the lower side. The distance between the contact 11a and the contact 11b is greater than the distance between the contact 12a and the contact 12b. The distance between the contact 11c and the contact 11d is greater than the distance between the contact 12c and the contact 12d. Therefore, the linear brakes 141, 142 are connected to the movable plate 120 from the outer side in the inward direction and from the upper side, and the linear brakes 143, 144 are connected to the movable plate 120 from the outer side in the inward direction and from the lower side. It should be noted that the inclination angle between the linear brakes 141 to 144 may be determined according to design requirements, and the present invention is not limited. The holder 110 assumes an L shape, but the appearance of the holder 110 of the present invention is not limited. The linear brakes 141 to 144 are linear brakes of the model LAS3-1-1-150-24G produced by Daikin Microsystems Co., Ltd., but the present invention does not limit the type of linear brakes. Position sensing elements, such as photo interrupter position feedback means, may be provided in the linear brakes 141-144 for position feedback. The linear brakes 141-144 may be motor brakes (e.g., TOSHIBA, model TA7257P) linear brakes 141-144, and the current length is determined by its feedback device to determine the adjusted speed and elongation distance.
此外，在調整座椅機構120的座墊高度與位置時，為讓使用者更為舒適與安全，座墊移動過程需保持平順與穩定。可變長度連桿141~144的長度與座椅機構120的位置之間的運算可以透過順向運動學(Forward kinematics)或逆向運動學(Inverse kinematics)來運算。In addition, when adjusting the seat cushion height and position of the seat mechanism 120, in order to make the user more comfortable and safe, the seat cushion movement process needs to be smooth and stable. The calculation between the length of the variable length links 141-144 and the position of the seat mechanism 120 can be calculated by Forward kinematics or Inverse kinematics.
在導入運動學之前，先建立兩個空間向量如下：Before importing kinematics, first create two space vectors as follows:
(1) Cartesian space[x ,y ,z ,α,β,γ]T ，其中[x ,y ,z ]表可動板原點的位置，[α,β,γ]為可動板與x ,y ,z 三軸的夾角。(1) Cartesian space[ x , y , z , α, β, γ] T , where [ x , y , z ] represents the position of the origin of the movable plate, [α, β, γ] is the movable plate and x , y , the angle between the three axes of z .
(2) Joint space[S 1 ,S 2 ,S 3 ,S 4 ]T ，其中S i 分別表示4支線性制動器的長度。(2) Joint space [ S 1 , S 2 , S 3 , S 4 ] T , where S i represents the length of the four linear brakes, respectively.
當運算從Joint space到Cartesian space屬於順向運動學，反之稱為逆向運動學。不過即使先決定四支可變長度連桿141~144的長度，但因座椅機構120與可變長度連桿141~144連結的萬向接頭有可能會呈現不同的方向，導致於座椅機構120的位置及角度不一，因此經由順向運動學的運算會產生多數解的現象。逆向運動學就沒有這種問題，先給定座椅機構120的座標及角度，經由運算得到四支可變長度連桿141~144的長度會是唯一解。When the operation from Joint space to Cartesian space belongs to forward kinematics, it is called reverse kinematics. However, even if the lengths of the four variable length links 141 to 144 are determined first, the universal joints of the seat mechanism 120 and the variable length links 141 to 144 may have different directions, resulting in the seat mechanism. The position and angle of 120 are different, so the majority of the solution is generated by the forward kinematics calculation. There is no such problem in reverse kinematics. Given the coordinates and angle of the seat mechanism 120, the length of the four variable length links 141-144 obtained by operation is the only solution.
只是在調整過程中，運算可變長度連桿141~144的長度需要相當大的系統運算資源。因此在驅動方面，本發明配合提出一種運算可變長度連桿長度方法。座墊可設置在可動板120上，本發明會建立座墊中心點(可動板120中心點)可行的工作空間，以座墊中心點作為參考座標，紀錄座墊的移動範圍並將工作空間數位化。這個工作空間的資訊會儲存有座墊中心點的座標與其對應的可變長度連桿141~144的長度。也就是說，工作空間會包括多個參考座標與對應的四個可變長度連桿長度值以對應於可變長度連桿141~144的長度。It is only during the adjustment process that the length of the variable length links 141-144 requires considerable system computing resources. Therefore, in terms of driving, the present invention cooperates with a method of calculating a variable length link length. The seat cushion can be disposed on the movable plate 120. The present invention establishes a feasible working space of the center point of the seat cushion (the center point of the movable plate 120), and uses the center point of the seat cushion as a reference coordinate to record the moving range of the seat cushion and digitize the working space. Chemical. The information of this workspace will store the coordinates of the coordinates of the center point of the seat cushion and its corresponding variable length links 141-144. That is, the workspace will include a plurality of reference coordinates and corresponding four variable length link length values to correspond to the length of the variable length links 141-144.
每一個參考座標對應的可變長度連桿長度均會考慮可動板120的水平，避免產生傾斜與翻轉的狀態發生。由於參考座標係用來表示可動板120的中心位置，所以兩個相鄰的參考座標可用來表示可動板120在空間中可達到的兩個相鄰位置點。The variable length link length corresponding to each reference coordinate takes into account the level of the movable plate 120 to avoid the occurrence of tilting and flipping. Since the reference coordinates are used to indicate the center position of the movable panel 120, two adjacent reference coordinates can be used to indicate two adjacent position points that the movable panel 120 can reach in space.
當使用者需要調整座墊位置時，座椅機構100會依照工作空間預先規劃座墊每次的移動路徑，避免產生未預期之姿勢，例如座墊傾斜而造成使用者不便。移動路徑是由工作空間中的多個相鄰的參考座標組成，可以由目前位置點連接至使用者所設定的目標位置點。When the user needs to adjust the position of the seat cushion, the seat mechanism 100 pre-plans each movement path of the seat cushion according to the working space to avoid an unexpected posture, for example, the seat cushion is inclined to cause inconvenience to the user. The moving path is composed of a plurality of adjacent reference coordinates in the workspace, and can be connected to the target position point set by the user from the current position point.
因此，當使用者需要左右橫移座墊時，其移動的過程中，可動板120會保持水平不會讓使用者感到不適或有摔倒之風險，因此在控制上，除了讓4支可變長度連桿141~144(線性致動器)達到同步控制外，也必須使座墊移動於平順之路徑，以避免產生干涉或動作上不平順之現象。Therefore, when the user needs to traverse the seat cushion left and right, during the movement, the movable plate 120 will remain horizontal without causing the user to feel uncomfortable or risk of falling, so in addition to the control, in addition to making 4 pieces variable The length links 141~144 (linear actuators) are synchronized, and the seat cushion must be moved to a smooth path to avoid interference or motion irregularities.
本發明將座墊中心點之最大工作空間以10mm(微米)為一單位，將座墊的工作空間劃分為例如2,028個位置點，但其中包含許多不可行或希望避免之位置點。本發明在此工作空間規劃座墊移動橫移路徑時，預設以下三項條件：The present invention divides the maximum working space of the center point of the seat cushion into units of 10 mm (micrometers), and divides the working space of the seat cushion into, for example, 2,028 position points, but contains many points which are not feasible or desirable to avoid. When the working space is planned to move the traverse path of the seat cushion, the present invention presets the following three conditions:
(1) 座墊在作垂直高度調整前，座墊中心點的左右調整(y 軸座標)與座墊前後翻滾角度都必須先歸零。(1) Before the seat cushion is adjusted for vertical height, the left and right adjustment of the center point of the seat cushion ( y- axis coordinate) and the front and rear roll angle of the seat cushion must be zeroed first.
(2) 座墊在左右橫移調整前，座墊前後翻滾角度必須先歸零，過程中座墊高度必須保持不變(座墊中心點x 軸與z 軸座標必須保持不變)。(2) Before the seat cushion is traversed left and right, the roll angle of the seat cushion must be zeroed first, and the height of the seat cushion must remain unchanged during the process (the x- axis and z- axis coordinates of the seat center point must remain unchanged).
(3) 座墊在前後翻滾調整時，座墊中心點的左右調整(y 軸座標)必須先歸零。(3) When the seat cushion is tumbling forward and backward, the left and right adjustment of the center point of the seat cushion ( y- axis coordinate) must be reset to zero first.
請參照圖5與圖6，圖5繪示本發明實施例的座墊可行空間範圍的部分座標資料。圖6繪示本發明實施例的座墊可行空間範圍示意圖。在圖5中，以三維的直角座標系(x,y,z)來表示座墊的中心點座標。在前述三項條件下，圖5為座墊中心點的可行工作空間範圍。例如座墊中心點座標在(0,0,0)時，往左(或右)橫移最大值為130mm，可翻轉角度範圍為-15°~15°；座墊中心點高度向上或向下調整時，座墊左右橫移和翻轉角度的範圍逐漸減小；座墊在最高或最低位置時(z=±65mm)時，座墊左右橫移和翻轉角度的範圍皆為零。圖6為座墊可行工作空間(斜線部分)，當座墊作垂直高度調整時，前後移動會隨之變化，即座墊中心點x 座標和z 座標是相依(dependent)的，所以圖5座墊中心點可行工作空間不需考慮中心點x 座標。Please refer to FIG. 5 and FIG. 6. FIG. 5 illustrates partial coordinate data of a feasible space range of the seat cushion according to the embodiment of the present invention. 6 is a schematic view showing a feasible space range of a seat cushion according to an embodiment of the present invention. In Fig. 5, the center point coordinates of the seat cushion are represented by a three-dimensional orthogonal coordinate system (x, y, z). Under the above three conditions, Figure 5 shows the feasible working space range of the center point of the seat cushion. For example, when the coordinates of the center point of the seat cushion are at (0, 0, 0), the maximum value of the leftward (or right) traverse is 130mm, and the reversible angle range is -15°~15°; the height of the center point of the seat cushion is upward or downward. When adjusting, the range of left and right traverse and flip angle of the seat cushion is gradually reduced; when the seat cushion is at the highest or lowest position (z=±65mm), the left and right traverse and flip angle ranges of the seat cushion are all zero. Figure 6 shows the feasible working space (hatched part) of the seat cushion. When the seat cushion is adjusted for vertical height, the front and rear movements will change accordingly, that is, the center point x coordinate and the z coordinate of the seat cushion are dependent, so Figure 5 The working point of the center point of the pad does not need to consider the center point x coordinate.
規劃出座墊中心點之可行工作空間後，接下來將可行工作空間的z 軸方向以每10mm為一單位，劃分出13個可供垂直高度調整之位置點；左右橫移調整方面，根據這13個可作垂直高度調整位置點之y 軸可橫移範圍以每10mm為一單位，劃分出共計243個可供左右橫移調整之位置點(包含13個左右橫移為零之位置點)；在前後翻滾調整方面，依據前述規則(3)，座墊中心點的左右調整(y 軸座標)必須先歸零，依據這13個可作垂直高度調整位置點之可翻轉角度的範圍，以每5°為一單位，劃分出61個可供前後翻滾調整之位置點(包含11個翻滾角度為零之位置點)，加上(-30,0,65)和(30,0,-65)這兩個位置點(垂直高度之最高處與最低處)。把三類可作座墊調整之位置點相加，扣除重複計算之位置點，符合以上三項條件的可行工作空間共有295個位置點(以圖6為例)，即使用者可操控座墊達成之所有工作位置點。工作空間中的位置點數目會依照座椅機構100的整體機構而變，上述295個位置點僅為範例，本發明並不受限於此。After planning the feasible working space of the center point of the seat cushion, the z- axis direction of the feasible working space is divided into 13 positions for vertical height adjustment in units of 10 mm per unit; 13 y- axis traversable ranges for vertical height adjustment position can be divided into a unit of 10mm per 10mm, and a total of 243 positions for lateral traverse adjustment (including 13 positions with zero traverse to zero) In terms of front and rear roll adjustment, according to the above rule (3), the left and right adjustment of the center point of the seat cushion ( y- axis coordinate) must be first zeroed, according to the range of the reversible angle of the 13 vertical height adjustment position points, Every 5° is a unit, and 61 points can be divided for front and rear roll adjustment (including 11 position points with zero roll angle), plus (-30,0,65) and (30,0,-65 ) These two position points (the highest and lowest of the vertical height). Adding three types of position points that can be used for seat cushion adjustment, deducting the position of repeated calculation, there are 295 position points in the feasible working space that meet the above three conditions (as shown in Figure 6), that is, the user can control the seat cushion. All work locations reached. The number of position points in the work space may vary depending on the overall mechanism of the seat mechanism 100. The above 295 position points are merely examples, and the present invention is not limited thereto.
工作空間中的位置點與其對應的可變長度連桿141~144的長度會被預先計算與儲存，同時預先規劃可行動作路徑。舉例來說，如圖6所示，如果可動板120的目前位置點為(0,0,0)，所要達到的目標位置點為(x,20,60)，其移動路徑可設定為610或620。若可動板120是經由移動路徑610移動至目標位置點，則可變長度連桿141~144會根據移動路徑610上的參考座標，逐一調整長度，使可動板120達到路徑中的每一個參考座標後再調整至目標位置點。例如，可動板120會先完成到達參考座標611的調整動作，然後再調整至下一個參考座標612的位置點。依此類推，使可動板120沿著移動路徑610到達目標位置點(x,20,60)。同理，若選擇經由移動路徑620移動至目標位置點，可動板120沿著移動路徑620上的參考座標，逐步調整至目標參考點(x,20,60)。The position points in the workspace and the lengths of their corresponding variable length links 141-144 are pre-calculated and stored, while the feasible action paths are pre-planned. For example, as shown in FIG. 6, if the current position of the movable plate 120 is (0, 0, 0), the target position point to be reached is (x, 20, 60), and the moving path can be set to 610 or 620. If the movable plate 120 is moved to the target position point via the moving path 610, the variable length links 141-144 adjust the length one by one according to the reference coordinates on the moving path 610, so that the movable plate 120 reaches each reference coordinate in the path. Then adjust to the target location point. For example, the movable plate 120 first completes the adjustment action to the reference coordinate 611 and then adjusts to the position of the next reference coordinate 612. By analogy, the movable plate 120 is moved along the moving path 610 to the target position point (x, 20, 60). Similarly, if it is selected to move to the target position via the moving path 620, the movable plate 120 is gradually adjusted to the target reference point (x, 20, 60) along the reference coordinate on the moving path 620.
使用者乘坐於座墊時，透過對外在環境的感知，以及使用者舒適姿勢，操作座墊調整垂直高度、左右橫移以及前後翻滾，使座墊到達可行工作空間中預先規劃的位置點。在移動座墊時，本實施例利用預先於儲存的資訊來調整可變長度連桿141~144，讓座墊可以依照預先規劃的路徑移動至所需的位置並且避免產生過度傾斜或是抖動不穩的狀態產生。When the user rides on the seat cushion, through the perception of the external environment and the user's comfortable posture, the seat cushion is adjusted to adjust the vertical height, the left and right traverse, and the front and rear tumbling, so that the seat cushion reaches a pre-planned position in the feasible working space. When the seat cushion is moved, the embodiment adjusts the variable length links 141 to 144 by using the stored information in advance, so that the seat cushion can be moved to a desired position according to a pre-planned path and avoid excessive tilt or jitter. A steady state is produced.
另外，在使用者的操作流程中，本實施例提供一個使用者介面與其操作原則。圖7繪示本實施例的使用者介面(控制面板)示意圖，其中包括上、下、左、右的調整按鍵與轉動鍵，可以讓使用者轉動坐墊位置與角度。在操作上，需要依照下列原則操作：In addition, in the user's operation flow, the embodiment provides a user interface and its operation principle. FIG. 7 is a schematic diagram of the user interface (control panel) of the embodiment, including upper, lower, left, and right adjustment buttons and a rotation button, which allows the user to rotate the seat position and angle. In terms of operation, you need to follow the following principles:
(1) 無法同時執行兩種以上調整動作，同時按下兩個以上按鍵座墊將不作動，前一調整動作尚未完成前，如又按下其他按鍵，後者調整動作無效。(1) It is not possible to perform two or more adjustment actions at the same time. Pressing more than two button seats at the same time will not operate. Before the previous adjustment action has been completed, if the other buttons are pressed, the latter adjustment action is invalid.
(2) 執行調整垂直高度或者前後翻滾時，如座墊左右橫移量不為零，會先自動歸零，再執行欲調整之動作。(2) When adjusting the vertical height or rolling forward and backward, if the left and right traverse of the seat cushion is not zero, it will automatically return to zero first, and then perform the action to be adjusted.
(3) 執行調整垂直高度或者左右橫移時，如座墊翻滾角度不為零，會先自動歸零，再執行欲調整之動作。(3) When performing the adjustment vertical height or the left and right traverse, if the seat roll roll angle is not zero, it will automatically return to zero first, and then perform the action to be adjusted.
在前述規劃下，座墊在可行工作空間中的移動，都是依據預先規劃、唯一的路徑，以確保安全及穩定性。本發明將可行工作空間中已規劃好之路徑撰寫於四軸史都華平台控制程式中，可行工作空間中已劃分好之295個位置點也逐一編號，並計算出每個位置點所對應的4支可變長度連桿141~144應有的伸長量，建立成位置表格並撰寫於程式中。如要移動至欲達成之位置時，程式只需控制4支可變長度連桿141~144的伸長量，不需要做逆向運動學的計算。在本實施例中，座墊每次移動的距離為10mm(每個位置點至鄰近的下一個位置點距離為10mm，不包含翻滾的位置點)，每支可變長度連桿每次所變化之長度不會超過20mm。可變長度連桿同時作動後，亦可接近同時到達之效果。在程式執行上，本實施例的控制程式依照下列步驟進行。Under the aforementioned plan, the movement of the seat cushion in the feasible working space is based on a pre-planned and unique path to ensure safety and stability. The invention writes the planned path in the feasible working space in the four-axis Stewart platform control program, and the 295 position points that have been divided in the feasible working space are also numbered one by one, and the corresponding points of each position point are calculated. The amount of elongation of the four variable length links 141 to 144 is established as a position table and written in the program. To move to the desired position, the program only needs to control the elongation of the four variable length links 141-144 without the need for inverse kinematics calculations. In this embodiment, the distance that the seat cushion moves is 10 mm each time (the distance from each position point to the next adjacent position point is 10 mm, which does not include the position of the roll), and each variable length link changes each time. The length will not exceed 20mm. After the variable length link is actuated at the same time, it can also approach the effect of simultaneous arrival. In the execution of the program, the control program of this embodiment proceeds in accordance with the following steps.
(1) 系統啟動後，程式自動將預設之初始位置點設定為欲到達之目標點。(1) After the system is started, the program automatically sets the preset initial position point to the target point to be reached.
(2) 將座墊移動到達初始位置點後，等待輸入調整模式。(2) Wait for the input adjustment mode after moving the seat cushion to the initial position.
(3) 如只輸入一種調整模式，則往下一步流程；如在輸入一種調整模式過程中又輸入另一種調整模式，則保留前者並且刪除後者，往下一步流程；如在移動至目標位置點的過程中輸入調整模式，則刪除在移動過程中輸入之調整模式；如同時輸入兩種以上調整模式，則刪除所輸入之調整模式。(3) If only one adjustment mode is input, proceed to the next step; if another adjustment mode is input during the input of one adjustment mode, the former is retained and the latter is deleted, and the next step is performed; for example, when moving to the target position During the process of inputting the adjustment mode, the adjustment mode input during the movement is deleted; if two or more adjustment modes are input at the same time, the input adjustment mode is deleted.
(4) 判斷目前所處位置點之編號。(4) Determine the number of the current location.
(5) 如是垂直高度位置點之編號，輸入之調整模式可以是三種調整模式中任意一種調整模式。(5) If it is the number of the vertical height position point, the input adjustment mode can be any one of the three adjustment modes.
(6) 如是左右橫移位置點之編號，輸入之調整模式若為左右橫移可作動，則開始判斷欲到達位置點之編號；輸入之調整模式若為垂直高度和前後翻滾，則皆改為調整左右橫移，並開始判斷欲到達位置點之編號。(6) If it is the number of the left and right traverse position points, if the input adjustment mode is traversable left and right, it will start to judge the number of the position to be reached; if the input adjustment mode is vertical height and roll forward and backward, it will be changed to Adjust the left and right traverse and start to judge the number of points to be reached.
(7) 如是前後翻滾位置點之編號，輸入之調整模式若為前後翻滾，則開始判斷欲到達位置點之編號；輸入之調整模式若為垂直高度和左右橫移，則皆改為調整前後翻滾，並開始判斷欲到達位置點之編號。(7) If it is the number of the front and rear roll position points, if the input adjustment mode is roll back and forth, it will judge the number of the position to be reached; if the input adjustment mode is vertical height and left and right traverse, it will be adjusted to roll before and after. And begin to judge the number of points to be reached.
(8) 判斷欲到達位置點之編號之後，從已撰寫在程式中的位置表格中找出該編號(位置點)每支可變長度連桿所對應的伸長量，同時輸出給對應之可變長度連桿。(8) After judging the number of the position point to be reached, find the extension corresponding to each variable length link of the number (position point) from the position table already written in the program, and output it to the corresponding variable Length link.
值得注意的是，上述控制程式的流程僅為本發明的示範性實施例，其控制流程的細節可以依照不同的設計需求調整，本發明並不受限。It should be noted that the flow of the above control program is only an exemplary embodiment of the present invention, and the details of the control flow may be adjusted according to different design requirements, and the present invention is not limited.
由上述可知，本發明的座椅機構100具有輔助使用者移動與調整座椅等功能，而且具有人性化的操作介面，可以方便使用者與外界聯繫。座椅機構100上的感測裝置與無線傳輸裝置，可以實現遠距醫療的效果。座椅機構100中的資料處理與信號傳輸可以利用電腦執行，只要將系統整合在座椅機構100之中即可，本發明不限制資料處理的方式。As can be seen from the above, the seat mechanism 100 of the present invention has the functions of assisting the user to move and adjust the seat, and has a user-friendly operation interface, which can facilitate the user to communicate with the outside world. The sensing device and the wireless transmission device on the seat mechanism 100 can achieve the effect of telemedicine. The data processing and signal transmission in the seat mechanism 100 can be performed by a computer as long as the system is integrated in the seat mechanism 100, and the present invention does not limit the manner of data processing.
另外，線性制動器141~144兩端的接頭需要具有多方向轉動的功能，可以依照設計需求使用球接頭或萬向接頭，例如線性制動器141的一端可用萬向接頭連接至可動板120，另一端則使用球接頭連接至固定架110。本發明並不限制線性制動器141兩端所使用的接頭形式。線性制動器141~144可以使用可調整長度的連桿取代，本發明並不限制其連桿的形式與架構，只要長度可調整即可。In addition, the joints at both ends of the linear brakes 141 to 144 need to have a multi-directional rotation function, and a ball joint or a universal joint can be used according to design requirements. For example, one end of the linear brake 141 can be connected to the movable plate 120 by a universal joint, and the other end can be used. The ball joint is connected to the mount 110. The present invention does not limit the form of the joint used at both ends of the linear brake 141. The linear brakes 141-144 can be replaced with adjustable length links, and the invention does not limit the form and construction of the links as long as the length can be adjusted.
綜上所述，本發明利用四軸的座椅機構，讓電動輪椅的椅墊可以具有左右橫移、高度調整、前後移動與翻轉等四個自由度的調整功能，藉此讓使用者在使用電動輪椅時可以更為方便。In summary, the present invention utilizes a four-axis seat mechanism, so that the seat cushion of the electric wheelchair can have four degrees of freedom adjustment functions such as left and right traverse, height adjustment, back and forth movement and flipping, thereby allowing the user to use It is more convenient when using an electric wheelchair.
雖然本發明之較佳實施例已揭露如上，然本發明並不受限於上述實施例，任何所屬技術領域中具有通常知識者，在不脫離本發明所揭露之範圍內，當可作些許之更動與調整，因此本發明之保護範圍應當以後附之申請專利範圍所界定者為準。Although the preferred embodiments of the present invention have been disclosed as above, the present invention is not limited to the above-described embodiments, and any one of ordinary skill in the art can make some modifications without departing from the scope of the present invention. The scope of protection of the present invention should be determined by the scope of the appended claims.
100．．．座椅機構100. . . Seat mechanism
110．．．固定架110. . . Fixing frame
112．．．底座112. . . Base
114．．．側立架114. . . Side stand
116、118．．．限位件116, 118. . . Limiter
11a、11b、11c、11d．．．接點11a, 11b, 11c, 11d. . . contact
12a、12b、12c、12d．．．接點12a, 12b, 12c, 12d. . . contact
116a．．．承靠斜面116a. . . Bearing bevel
120．．．可動板120. . . Movable plate
141~144．．．線性制動器141~144. . . Linear brake
141a．．．本體141a. . . Ontology
141b．．．軸向桿141b. . . Axial rod
151~154．．．球接頭151~154. . . Ball joint
161~164．．．萬向接頭161~164. . . Universal joint
171~174．．．輪子171~174. . . wheel
300．．．麥凱倫輪300. . . McKellen Wheel
311、411、421、431、441．．．自由滾子311, 411, 421, 431, 441. . . Free roller
400．．．座椅機構400. . . Seat mechanism
410~440．．．麥凱倫輪410~440. . . McKellen Wheel
610、620．．．移動路徑610, 620. . . Moving path
611、612．．．參考座標611, 612. . . Reference coordinates
圖1本發明一實施例的智慧型機器人輪椅之史都華平台座椅機構的示意圖。1 is a schematic view of a Stadford platform seat mechanism of a smart robotic wheelchair according to an embodiment of the present invention.
圖2為根據本實施例的限位件116示意圖。FIG. 2 is a schematic view of the limiting member 116 according to the embodiment.
圖3A與圖3B繪示麥凱倫輪的結構示意圖。FIG. 3A and FIG. 3B are schematic diagrams showing the structure of the McLaren wheel.
圖4繪示麥凱倫輪組的設置方式示意圖。FIG. 4 is a schematic diagram showing the arrangement of the McLaren wheel set.
圖5繪示本發明實施例的座墊可行空間範圍的部分座標資料。FIG. 5 is a partial coordinate view of a feasible space range of a seat cushion according to an embodiment of the present invention.
圖6繪示本發明實施例的座墊可行空間範圍示意圖。6 is a schematic view showing a feasible space range of a seat cushion according to an embodiment of the present invention.
圖7繪示本實施例的使用者介面(控制面板)示意圖。FIG. 7 is a schematic diagram of the user interface (control panel) of the embodiment.
100．．．座椅機構100. . . Seat mechanism
110．．．固定架110. . . Fixing frame
112．．．底座112. . . Base
114．．．側立架114. . . Side stand
116、118．．．限位件116, 118. . . Limiter
11a、11b、11c、11d．．．接點11a, 11b, 11c, 11d. . . contact
12a、12b、12c、12d．．．接點12a, 12b, 12c, 12d. . . contact
120．．．可動板120. . . Movable plate
141~144．．．線性制動器141~144. . . Linear brake
141a．．．本體141a. . . Ontology
141b．．．軸向桿141b. . . Axial rod
151~154．．．球接頭151~154. . . Ball joint
161~164．．．萬向接頭161~164. . . Universal joint
171~174．．．輪子171~174. . . wheel
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| TW100115335A TWI401070B (en) | 2011-05-02 | 2011-05-02 | Stewart platform seat mechanism and controlling method thereof for intelligent robotic wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100115335A TWI401070B (en) | 2011-05-02 | 2011-05-02 | Stewart platform seat mechanism and controlling method thereof for intelligent robotic wheelchair |
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| TWI401070B true TWI401070B (en) | 2013-07-11 |
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| TW201540280A (en) * | 2014-04-23 | 2015-11-01 | Univ Feng Chia | Smart mobile chair and its control circuit |
| AT516072B1 (en) * | 2014-07-15 | 2022-03-15 | Walter Bruno | All-terrain wheelchair |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040084950A1 (en) * | 2001-02-21 | 2004-05-06 | Michael Markwald | Seat shell with adjustable support elements |
| TWM322817U (en) * | 2007-05-10 | 2007-12-01 | Univ Kao Yuan | Wheelchair capable of adjusting angle of seat |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040084950A1 (en) * | 2001-02-21 | 2004-05-06 | Michael Markwald | Seat shell with adjustable support elements |
| TWM322817U (en) * | 2007-05-10 | 2007-12-01 | Univ Kao Yuan | Wheelchair capable of adjusting angle of seat |
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