電動輪椅腳靠升降機構模組設計研究

Design Study on the Legrest Module of an Electric Wheelchair

劉安倫(An-Lun Liu)

指導教授 ： 陳正光

國立臺北科技大學/機電學院/機電整合研究所/碩士(2014年)

https://doi.org/10.6841/NTUT.2014.00307

摘要

一般的輪椅在腳靠組抬升的過程中僅能達到抬升的效果，並沒有考慮到腳靠板與小腿的旋轉中心並不同，造成在旋轉抬升的過程中會使腳踏板壓迫到腳掌，不僅讓使用者腳部感到不舒服，還可能會影響到腳靠組的操作。因此，本研究提出可以在抬升過程中讓腳踏板同步旋轉與伸長的設計，使得腳踏板不會壓迫到腳掌。輪椅腳靠組可分為中置型和側置型兩種，本研究進行側置型腳靠組的機構構想設計，主要是利用顏氏機構構造創新設計的方法，配合數項判斷的規則與限制，總共得到六種可行的新型機構構造。之後，再進一步利用SolidWorks軟體針對其中較佳的四種進行實體設計，並進行升降與伸縮的分析比較及評估，得到最後的一種最佳構造，完成一個以七連桿組設計的單一自由度腳靠組設計。此腳靠機構是以現有的四連桿升降機構搭配額外的桿件，達到腳靠可以伸縮的要求，再以腳靠的運動路徑為依據，利用Solidworks設計軟體的功能進行機構的桿件尺寸合成，腳靠板抬升後可伸長158mm。此一新型腳靠機構已在Solidworks軟體中完成細部零件設計，經過組合進行動態模擬測試及強度分析，初步證實其設計的安全性與可行性。

關鍵字

電動輪椅 ； 機構 ； 腳靠升降模組 ； 強度

並列摘要

For a general wheelchair, it can only achieve the effect of lifting during the lifting process of the legrest module. Due to different locations of rotating center for the legrest module and the lower leg, it might cause the footrest plate to press the user’s foot during the lifting process of the legrest module, which is not only cause uncomfortable feeling to the user but also possible unsmooth operation of the lifting. The legrest module could be categorized into two types: centered and sided. This study focuses on the conceptual mechanism design of sided-type legrest module. It applies Yan’s creative method of mechanism structure design with several rules and constraints, and obtains six potential new mechanism structures. With the aid of Solidworks software, among the six potential mechanism, four better mechanisms are realized and evaluated by their lifts and retracts. It turns out the best suitable one among the four potential mechanisms. The most suitable mechanism is a 7-link 1-DOF mechanism actuated by a single electric cylinder to achieve simultaneously the extensible and lifting functions. This novel mechanism structure is obtained by adding three extra links to the original retractable four-bar mechanism to achieve the extensible function. Then, the required dimensions of links for the mechanism are based on the path of legrest link to synthesize via the functions provided by Solidworks software. This legrest module is installed on both side of the wheelchair, and the legrest link could be extended 158 mm after lifted. The detailed design of all parts has been completed and assembled via Solidworks software, and the dynamic simulation and strength analysis have been performed. The preliminary result has confirmed the safety and feasibility of this novel design.

並列關鍵字

Electric Wheelchair ； Mechanism ； Legrest retractable module ； Strength

參考文獻

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