背景:我国进入老龄化社会,2030年预估老年人3.4亿,占总人口1/4;人民对医疗水平要求不断提高,因此对轮椅的需求越来越大,但是市面产品存在很多问题,让使用者十分不方便。目的:1) 降低轮椅转弯半径,提升轮椅操控性和舒适性。2) 能够快速...背景:我国进入老龄化社会,2030年预估老年人3.4亿,占总人口1/4;人民对医疗水平要求不断提高,因此对轮椅的需求越来越大,但是市面产品存在很多问题,让使用者十分不方便。目的:1) 降低轮椅转弯半径,提升轮椅操控性和舒适性。2) 能够快速、平稳地、安全地爬楼。3) 能够帮助使用者进行康复训练,可以实现站、坐、躺、行走转换。方法:使用UG12.0进行3D建模,计算、选择符合参数的标准件中体积最小的产品,设计非标件;使用Automation Studio P7.0 Professional设计液压回路、进行液压仿真。结果:1) 低速行驶时,全车转弯半径360 mm,是市面无动力室内轮椅的1/2,室外电动轮椅的1/3。2) 高速行驶时,轮椅旋转角度明显减小,操控性明显提升。3) 爬楼速度明显优于市面产品。4) 可以帮助使用者进行站、坐、躺、行走康复训练。结论:该轮椅设计用简单可行、故障率低的结构解决了用户痛点,应该大力推广。Background: Our country has entered an aging society. It is estimated that there will be 340 million elderly people in 2030, accounting for 1/4 of the total population. People’s requirements for medical level are constantly improving, so the demand for wheelchairs is increasing. However, there are many problems with the products on the market, which makes it very inconvenient for users. Objective: This paper aims to 1) reduce the turning radius of wheelchairs and improve the controllability and comfort of wheelchairs;2) be able to climb stairs quickly, smoothly and safely;3) be able to help users with rehabilitation training and realize the conversion between standing, sitting, lying and walking. Methods: UG12.0 was used for 3D modeling, and the smallest product among the standard parts that met the parameters was calculated and selected, and non-standard parts were designed;Automation Studio P7.0 Professional was used to design hydraulic circuits and perform hydraulic simulation. Results: 1) When driving at low speed, the turning radius of the whole vehicle is 360 mm, which is 1/2 of the non-powered indoor wheelchairs on the market and 1/3 of the outdoor electric wheelchairs. 2) When driving at high speed, the rotation angle of the wheelchair is significantly reduced, and the controllability is significantly improved. 3) The climbing speed is significantly better than the products on the market. 4) It can help users to perform rehabilitation training of standing, sitting, lying and walking. Conclusion: The wheelchair design solves the user’s pain points with a simple, feasible and low-failure structure and should be vigorously promoted.展开更多
针对爬楼轮椅前腿的位姿调节机构在工作时不能同时触地及受力失衡等问题,文中提出基于模糊比例-积分-微分(Proportional Integral Derivative, PID)的前腿同步位姿调节控制策略。首先,建立了前腿位姿调节机构驱动装置的数学模型。其次,...针对爬楼轮椅前腿的位姿调节机构在工作时不能同时触地及受力失衡等问题,文中提出基于模糊比例-积分-微分(Proportional Integral Derivative, PID)的前腿同步位姿调节控制策略。首先,建立了前腿位姿调节机构驱动装置的数学模型。其次,根据爬楼轮椅工作要求设定合适的阈值,通过偏差大小来选用最优的控制算法,建立了基于模糊控制策略与模糊自适应PID控制策略。最后,结合模糊PID复合控制模型,实现前腿机构在复杂工况下的有效控制。实验结果表明:采用模糊PID的前腿同步控制系统超调量较小,达到稳态的时间更少,具有较高的稳定性。展开更多
文摘背景:我国进入老龄化社会,2030年预估老年人3.4亿,占总人口1/4;人民对医疗水平要求不断提高,因此对轮椅的需求越来越大,但是市面产品存在很多问题,让使用者十分不方便。目的:1) 降低轮椅转弯半径,提升轮椅操控性和舒适性。2) 能够快速、平稳地、安全地爬楼。3) 能够帮助使用者进行康复训练,可以实现站、坐、躺、行走转换。方法:使用UG12.0进行3D建模,计算、选择符合参数的标准件中体积最小的产品,设计非标件;使用Automation Studio P7.0 Professional设计液压回路、进行液压仿真。结果:1) 低速行驶时,全车转弯半径360 mm,是市面无动力室内轮椅的1/2,室外电动轮椅的1/3。2) 高速行驶时,轮椅旋转角度明显减小,操控性明显提升。3) 爬楼速度明显优于市面产品。4) 可以帮助使用者进行站、坐、躺、行走康复训练。结论:该轮椅设计用简单可行、故障率低的结构解决了用户痛点,应该大力推广。Background: Our country has entered an aging society. It is estimated that there will be 340 million elderly people in 2030, accounting for 1/4 of the total population. People’s requirements for medical level are constantly improving, so the demand for wheelchairs is increasing. However, there are many problems with the products on the market, which makes it very inconvenient for users. Objective: This paper aims to 1) reduce the turning radius of wheelchairs and improve the controllability and comfort of wheelchairs;2) be able to climb stairs quickly, smoothly and safely;3) be able to help users with rehabilitation training and realize the conversion between standing, sitting, lying and walking. Methods: UG12.0 was used for 3D modeling, and the smallest product among the standard parts that met the parameters was calculated and selected, and non-standard parts were designed;Automation Studio P7.0 Professional was used to design hydraulic circuits and perform hydraulic simulation. Results: 1) When driving at low speed, the turning radius of the whole vehicle is 360 mm, which is 1/2 of the non-powered indoor wheelchairs on the market and 1/3 of the outdoor electric wheelchairs. 2) When driving at high speed, the rotation angle of the wheelchair is significantly reduced, and the controllability is significantly improved. 3) The climbing speed is significantly better than the products on the market. 4) It can help users to perform rehabilitation training of standing, sitting, lying and walking. Conclusion: The wheelchair design solves the user’s pain points with a simple, feasible and low-failure structure and should be vigorously promoted.
文摘针对爬楼轮椅前腿的位姿调节机构在工作时不能同时触地及受力失衡等问题,文中提出基于模糊比例-积分-微分(Proportional Integral Derivative, PID)的前腿同步位姿调节控制策略。首先,建立了前腿位姿调节机构驱动装置的数学模型。其次,根据爬楼轮椅工作要求设定合适的阈值,通过偏差大小来选用最优的控制算法,建立了基于模糊控制策略与模糊自适应PID控制策略。最后,结合模糊PID复合控制模型,实现前腿机构在复杂工况下的有效控制。实验结果表明:采用模糊PID的前腿同步控制系统超调量较小,达到稳态的时间更少,具有较高的稳定性。
