畢業(yè)設(shè)計(jì)（論文）開(kāi)題報(bào)告課題名稱(chēng) 輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì)學(xué) 院 專(zhuān) 業(yè) 機(jī)械電子工程 _班 級(jí) _______________________學(xué) 號(hào) _____姓 名 _____ 指導(dǎo)教師 定稿日期： 年 12 月 日輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì)一、課題的來(lái)源、目的、意義，國(guó)內(nèi)外基本情況1．課題來(lái)源本課題來(lái)自企業(yè)項(xiàng)目和社會(huì)需求，是設(shè)計(jì)一種基于服務(wù)機(jī)器人系統(tǒng)技術(shù)的輔助站立座椅，實(shí)現(xiàn)座椅的移動(dòng)、展合等機(jī)械運(yùn)動(dòng)，簡(jiǎn)化其結(jié)構(gòu)，增加了移動(dòng)的可控性，可實(shí)現(xiàn)座椅的移動(dòng)，升降，轉(zhuǎn)彎等功能，為未來(lái)老人和殘疾人的家居生活提供新模式和新概念并促進(jìn)助老/助殘系列化服務(wù)機(jī)器人產(chǎn)品的發(fā)展智能機(jī)器人的應(yīng)用。2．課題目的基于服務(wù)機(jī)器人系統(tǒng)技術(shù)的輔助站立座椅是滿(mǎn)足老年人和殘疾人的居家生活需要，形成未來(lái)老人和殘疾人家居生活的新模式和新概念，促進(jìn)助老/助殘系列化服務(wù)機(jī)器人產(chǎn)品的發(fā)展所必需的。隨著中國(guó)一二線城市老齡化程度的逐漸加深，便捷型家居設(shè)計(jì)和人性化設(shè)計(jì)理念下的產(chǎn)品正逐步進(jìn)入我們的生活。如現(xiàn)在大力推廣的老年人手機(jī)、折疊老人購(gòu)物車(chē)等產(chǎn)品都是基于這一理念，使科技和技術(shù)不僅僅局限于有限的范圍，并能實(shí)現(xiàn)達(dá)到更多的益于人本身的目的。目前，輔助站立座椅在國(guó)外已有研究并有小量產(chǎn)品，國(guó)內(nèi)也有少量產(chǎn)品問(wèn)世但缺乏人性化的考慮，使用者相對(duì)并不十分方便，國(guó)外產(chǎn)品相對(duì)比較成熟但價(jià)格昂貴，而國(guó)內(nèi)大多數(shù)用戶(hù)難以承受。為此利用機(jī)械設(shè)計(jì)理論、自動(dòng)控制技術(shù)設(shè)計(jì)滿(mǎn)足老人/殘疾人家居生活所必需的坐姿與站姿轉(zhuǎn)換輔助站式座椅具有重要的意義。人性化設(shè)計(jì)的前身是人體工程學(xué)的出現(xiàn)和發(fā)展，人體工程學(xué)起源于歐美，原先是在工業(yè)社會(huì)中，開(kāi)始大量生產(chǎn)和使用機(jī)械設(shè)施的情況下，探求人與機(jī)械之間的協(xié)調(diào)關(guān)系，作為獨(dú)立學(xué)科有 40 多年的歷史。第二次世界大戰(zhàn)中的軍事科學(xué)技術(shù)，開(kāi)始運(yùn)用人體工程學(xué)的原理和方法，在坦克、飛機(jī)的內(nèi)艙設(shè)計(jì)中，如何使人在艙內(nèi)有效地操作和戰(zhàn)斗，并盡可能使人長(zhǎng)時(shí)間地在小空間內(nèi)減少疲勞，即處理好：人-機(jī)-環(huán)境的協(xié)調(diào)關(guān)系。及至第二次世界大戰(zhàn)后，各國(guó)把人體工程學(xué)的實(shí)踐和研究成果，迅速有效地運(yùn)用到空間技術(shù)、工業(yè)生產(chǎn)、建筑及室內(nèi)設(shè)計(jì)中去，1960 年創(chuàng)建了國(guó)際人體工程學(xué)協(xié)會(huì)。本課題的目的在于通過(guò)比較前人的設(shè)計(jì)產(chǎn)品從而進(jìn)行結(jié)構(gòu)優(yōu)化使其能夠降低成本并處于人性化的考慮，做部分結(jié)構(gòu)的重新設(shè)計(jì)，以滿(mǎn)足低收入人群的接受能力和需求。為了適應(yīng)中國(guó)部分城市老齡化的現(xiàn)狀和老人及殘障人士的需求，設(shè)計(jì)一種方便坐立并輕松戰(zhàn)立的輔助型座椅，可實(shí)現(xiàn)座椅的移動(dòng)，升降，轉(zhuǎn)向等功能，為未來(lái)老人和殘疾人的家居生活提供新模式和新概念并促進(jìn)助老/助殘系列化服務(wù)機(jī)器人產(chǎn)品的發(fā)展智能機(jī)器人的應(yīng)用。3．課題意義輔助站立座椅是近年來(lái)國(guó)內(nèi)外科技服務(wù)人類(lèi)的一個(gè)熱門(mén)話題。以“理解·關(guān)愛(ài)·和諧生活”為主題的第五屆中國(guó)國(guó)際殘疾人展，于2010年5月中旬在上海國(guó)際展覽中心舉行。由于世博會(huì)首創(chuàng)設(shè)立了關(guān)愛(ài)殘疾人的“生命陽(yáng)光館” ，該屆展會(huì)備受關(guān)注。全球最先進(jìn)的無(wú)障礙設(shè)施同臺(tái)亮相，通過(guò)這些輔助設(shè)備可以全面提升殘疾人和老年人的生活質(zhì)量，讓他們像常人一樣處處展現(xiàn)“生命陽(yáng)光” 。 而一直以來(lái)，坐輪椅的殘疾人最大的夢(mèng)想是能站立行走，在該展會(huì)上，一種可以讓高位截癱患者通過(guò)操控按鈕就能直立起來(lái)的電動(dòng)直立輪椅首次亮相，備受關(guān)注。據(jù)現(xiàn)場(chǎng)工作人員介紹，直立輪椅能夠讓全部喪失行動(dòng)能力的患者在輪椅的多功能支持下直立“行走” ，通過(guò)彌補(bǔ)下肢的不便，使他們甚至能夠完成一定的日常工作。由此可見(jiàn)，輔助戰(zhàn)立座椅對(duì)于現(xiàn)代城市化生活中的年老或殘障人士有著重要的社會(huì)意義和巨大的市場(chǎng)需求前景，可以大大改善該人群的生活范圍及生活質(zhì)量，減少護(hù)工等的人力資源消耗，大大減輕了社會(huì)系統(tǒng)負(fù)擔(dān)。課題適應(yīng)中國(guó)部分城市老齡化的現(xiàn)狀和老人及殘障人士的需求，設(shè)計(jì)一種方便坐立并輕松戰(zhàn)立的輔助型座椅，可實(shí)現(xiàn)座椅的移動(dòng)，升降，轉(zhuǎn)彎等功能，為未來(lái)老人和殘疾人的家居生活提供新模式和新概念并促進(jìn)助老/助殘系列化服務(wù)機(jī)器人產(chǎn)品的發(fā)展智能機(jī)器人的應(yīng)用。4．國(guó)內(nèi)外發(fā)展的基本概況國(guó)外輔助站立座椅領(lǐng)域發(fā)展：日本在家庭機(jī)器人及智能人性化家具設(shè)計(jì)產(chǎn)品中有著較長(zhǎng)的發(fā)展歷史，對(duì)于輔助型系統(tǒng)和輔助生活型機(jī)械發(fā)展比較早。在輔助機(jī)械座椅的標(biāo)準(zhǔn)制定中更是有著嚴(yán)格的要求。對(duì)于其各項(xiàng)參數(shù)名稱(chēng)部分如下(1）種類(lèi) 包括其形式和機(jī)能(2）各部分名稱(chēng)(3）要求事項(xiàng) 包括一般要求事項(xiàng)一般及機(jī)構(gòu)要求制造、材料和性能(4）實(shí)驗(yàn)環(huán)境及其實(shí)驗(yàn)機(jī)械 包括椅面椅背和承重等(5）規(guī)格大小 (6）表示另外在傳統(tǒng)輪椅的基礎(chǔ)上，日本本田公司在借助了日本機(jī)器人 ASIMO 直立行走的的技術(shù)上大膽的創(chuàng)新于 2008 年 11 月 7日，日本本田汽車(chē)公司展示了這款步行輔助裝置。該產(chǎn)品用來(lái)支撐身體重量，減少膝關(guān)節(jié)壓力，以幫助人們站立并做出蹲伏的姿勢(shì)。這對(duì)人們排長(zhǎng)隊(duì)、東奔西跑幫人們送貨、以及陪女友逛商場(chǎng)等來(lái)說(shuō)是非常有用的發(fā)明。 走路輔助器由座椅、腿支架、鞋這三部分組成。坐上座椅，穿好鞋扣上扣子，打開(kāi)開(kāi)關(guān)它就會(huì)帶你四處行走了。本田公司的介紹，產(chǎn)品系統(tǒng)包括：一臺(tái)電腦、發(fā)動(dòng)機(jī)、傳動(dòng)裝置、電池以及傳感器。它利用臀關(guān)節(jié)感應(yīng)器來(lái)搜集行走時(shí)的信息，幫你站立，再藉由馬達(dá)協(xié)助你行走。值得一提的是，這款產(chǎn)品采用本田開(kāi)發(fā)的平板式無(wú)刷電機(jī)驅(qū)動(dòng)，體積非常小巧。我國(guó)在家庭機(jī)器人及智能人性化家具設(shè)計(jì)中還處于落后的位置，原因在于起步較其他發(fā)達(dá)國(guó)家的投入和應(yīng)用較晚。輔助站立座椅的開(kāi)發(fā)和投入也只是近幾年少部分企業(yè)在看到國(guó)外的產(chǎn)品后才開(kāi)始研究并發(fā)展。在杭州，一家成立于 2010 年的能源科技公司，就借鑒了國(guó)外的這一發(fā)展趨勢(shì)和思路以全新的設(shè)計(jì)理念，高端的科技運(yùn)用，向年老及殘障人士提供普通電動(dòng)輪椅、站立式電動(dòng)輪椅等一系列產(chǎn)品。部分產(chǎn)品圖樣如下 我國(guó)的輪椅設(shè)計(jì)已經(jīng)在逐漸從借鑒到能夠自主的研發(fā)并實(shí)現(xiàn)部分的創(chuàng)新。輪椅作為一種代步輔助運(yùn)動(dòng)的工具，消費(fèi)者一般不會(huì)購(gòu)買(mǎi)第二次，所以，在某種程度上輪椅是一種一次性消費(fèi)產(chǎn)品，這就要求輪椅的使用壽命足夠長(zhǎng)，一般輪椅的使用年限 5、6 年左右，超過(guò)這個(gè)年限還使用就存在許多安全隱患了。而國(guó)內(nèi)企業(yè)往往在開(kāi)發(fā)和生產(chǎn)中忽視這一點(diǎn)。所以，輪椅在設(shè)計(jì)之初就應(yīng)該考慮到它的回收，以便材料的重復(fù)使用，防止不必要的浪費(fèi)。這也是國(guó)內(nèi)在這一領(lǐng)域的環(huán)?？沙掷m(xù)發(fā)展的一種趨勢(shì)。 以下列舉幾種國(guó)內(nèi)外對(duì)于站立輔助機(jī)械的產(chǎn)品圖 1 為所設(shè)計(jì)的自彈式的輔助站立椅墊。該產(chǎn)品的重量輕，攜帶性好。但對(duì)于材料的要求比較高。價(jià)格也相應(yīng)的偏高。圖 1圖 2 為國(guó)內(nèi)自主設(shè)計(jì)制造的可實(shí)現(xiàn)站立的輔助式站立輪椅?？蓪?shí)現(xiàn)座椅的展合和移動(dòng)。圖 2圖 3 是本田公司借鑒asimo 的直立行走技術(shù)創(chuàng)新的改變了人們對(duì)于傳統(tǒng)輪椅的思路，是該機(jī)構(gòu)還能實(shí)現(xiàn)新走的運(yùn)動(dòng)方式。使用方便的乘坐型座椅僅僅只需穿上連在裝置上的鞋，再坐上座椅，便可啟動(dòng)輔助系統(tǒng)。 通過(guò)開(kāi)發(fā)能夠自動(dòng)跟蹤身體和腳動(dòng)作的座椅和圖 3 框架結(jié)構(gòu)，使輔助力量能夠像人腳的力量一樣移向身體的重心附近。從而使步行、上下臺(tái)階、半蹲等各種各樣的動(dòng)作和姿勢(shì)能得到輔助。二、 預(yù)計(jì)達(dá)到的目標(biāo)、關(guān)鍵理論和技術(shù)、完成課題的方案和主要措施1.課題預(yù)計(jì)達(dá)到的目標(biāo)通過(guò)對(duì)市面上的相關(guān)同類(lèi)產(chǎn)品以及國(guó)內(nèi)外的各種專(zhuān)利進(jìn)行研究與分析，從使用的實(shí)用性，人性化，簡(jiǎn)易性出發(fā)，以減少制造成本，降低售價(jià)且功能齊全，增加可回收利用性，設(shè)計(jì)一臺(tái)輔助站立座椅，可實(shí)現(xiàn)座椅的移動(dòng)，升降，轉(zhuǎn)彎等功能。控制方案采用單片機(jī)控制，整個(gè)座椅有一個(gè)遙控器，方便操縱者自由實(shí)施該座椅的各項(xiàng)功能。1） 前進(jìn)或后退2） 順/逆時(shí)針轉(zhuǎn)彎3） 座位平臺(tái)的升降4） 移動(dòng)及升降的互鎖5） 輔助引導(dǎo)輪支架的下擺2.難點(diǎn)1). 座椅各關(guān)節(jié)聯(lián)動(dòng)是否流暢2)．電氣控制方面的靈敏度是否能達(dá)到理想值3). 控制過(guò)程中電機(jī)轉(zhuǎn)速是否合理4). 供電量是否足夠5). 互鎖能否保證安全3．關(guān)鍵理論及技術(shù)通過(guò)與同類(lèi)產(chǎn)品的對(duì)比比較，決定采用升降電動(dòng)缸機(jī)構(gòu)作為輪椅的運(yùn)動(dòng)傳遞源。在確保各個(gè)機(jī)構(gòu)實(shí)現(xiàn)自身運(yùn)動(dòng)前提下，保證各個(gè)之間不發(fā)生干涉和碰撞。在確定各個(gè)機(jī)構(gòu)總體的運(yùn)動(dòng)方案的前提下，通過(guò)圖解法或使用相關(guān)軟件初步確定各個(gè)桿件的尺寸，通過(guò)解析法列出機(jī)構(gòu)的運(yùn)動(dòng)學(xué)方程或使用相關(guān)軟件如ANSYA、ADAMS，在機(jī)構(gòu)的疲勞極限范圍內(nèi)，尋找一種最佳的尺寸和機(jī)構(gòu)形狀使得輔助站立椅的運(yùn)動(dòng)穩(wěn)定性最高，減少因?yàn)橐苿?dòng)或升降而產(chǎn)生的沖擊和振動(dòng)，使操控者得到最大的靈敏度。達(dá)到的理想運(yùn)動(dòng)示意和機(jī)構(gòu)原理圖如下：在確定各個(gè)機(jī)構(gòu)之間的運(yùn)動(dòng)方式及尺寸之后，確定各機(jī)構(gòu)之間的連接方式，保證各個(gè)零件之間的連接可靠，運(yùn)動(dòng)時(shí)不產(chǎn)生卡死，噪音等問(wèn)題。零件盡可能的采用焊接，螺栓連接等常見(jiàn)連接方式，以降低生產(chǎn)成本。采用正確合理的整體機(jī)構(gòu)裝配工藝，避免機(jī)構(gòu)因?yàn)檠b配的順序問(wèn)題或裝配的方法不對(duì)而造成破壞原先設(shè)想的機(jī)構(gòu)運(yùn)動(dòng)，采用合理的表面處理方式，例如噴砂處理，外表面噴塑等。電氣控制方面，由于工作環(huán)境并不十分惡劣，選用單片機(jī)控制而非 PLC 控制，降低了控制成本，而且單片機(jī)控制相對(duì) PLC 有更好的靈敏度，便于控制的操作和精度。為了使用安全采用電器與機(jī)械互鎖的方式，保證了輪椅在使用過(guò)程中的穩(wěn)定性，防止因操控者的誤操作而造成的機(jī)構(gòu)損毀和人員的受傷。確保使用者在使用的過(guò)程中，電線不因?yàn)闄C(jī)構(gòu)運(yùn)動(dòng)而損壞。在新型機(jī)構(gòu)的研究基礎(chǔ)上，進(jìn)一步添加合理的人性化的設(shè)計(jì)，目的使使用者更舒適更符合人體工程學(xué)要求；建立合理的機(jī)構(gòu)之間運(yùn)動(dòng)的邏輯連貫，確保機(jī)構(gòu)之間的幾個(gè)運(yùn)動(dòng)能夠同時(shí)操作，通過(guò)聯(lián)動(dòng)的方式，確保使用者能自由控制該輪椅。三、研究方案執(zhí)行機(jī)構(gòu)采用一個(gè)普通直流儲(chǔ)能電瓶驅(qū)動(dòng)輔助站立椅升降機(jī)構(gòu)采用連桿傳動(dòng)輔助站立椅移動(dòng)、轉(zhuǎn)向機(jī)構(gòu)采用直流電機(jī)傳動(dòng)電氣控制方面，采用單片機(jī)控制 四、論文的框架1.核心部件的選型初選普通直流電機(jī)缸作為動(dòng)力，因?yàn)槠鋬r(jià)格低廉，結(jié)構(gòu)原理簡(jiǎn)單，體積較小，功率較小。初選MCS-51單片機(jī)程序設(shè)計(jì)，因?yàn)槠渚哂斜容^大的尋址空間 ，處理功能強(qiáng) ，指令系統(tǒng)相對(duì)完善以及完善的各種中斷源，抗干擾能力加強(qiáng)，工作亦相對(duì)穩(wěn)定 ，開(kāi)發(fā)環(huán)境要求較低，軟件資源十分豐富。 2.完成課題的步驟(1)通過(guò)資料查閱與分析，了解技術(shù)的國(guó)內(nèi)外現(xiàn)狀和發(fā)展趨勢(shì)（對(duì)國(guó)內(nèi)外技術(shù)及現(xiàn)有產(chǎn)品進(jìn)行對(duì)比分析）(2)分析設(shè)計(jì)要求，比較幾種可行的傳動(dòng)方案性能(3)按所需要求，對(duì)輔助站立座椅進(jìn)行整體規(guī)劃(4)確定各個(gè)機(jī)構(gòu)的類(lèi)型并進(jìn)行具體設(shè)計(jì)（包括零件尺寸設(shè)計(jì)、零件材料選擇）(5)完成電氣控制部分設(shè)計(jì)（包括供電方式、控制順序、單片機(jī)程序及接線圖 ）(6)繪制圖紙(7)完成設(shè)計(jì)說(shuō)明書(shū)3．完成課題的主要措施利用 ADAMS 機(jī)械系統(tǒng)動(dòng)力學(xué)仿真軟件，創(chuàng)建完全參數(shù)化的機(jī)械系統(tǒng)幾何模型，其求解器采用多剛體動(dòng)力學(xué)理論中的拉格朗日方程方法，建立系統(tǒng)動(dòng)力學(xué)方程，對(duì)虛擬機(jī)械系統(tǒng)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析，輸出位移、速度、加速度和反作用力曲線。利用三維設(shè)計(jì)軟件 SOLIDWORKS、UG 等，繪制三維零件圖以及三維裝配圖，生成虛擬樣機(jī)模型。檢查該樣機(jī)存在的干涉等問(wèn)題，然后利用該樣機(jī)模型制作裝配動(dòng)畫(huà)。最后利用 AUTOCAD 軟件繪制全套零件二維工作圖以及二維總裝配圖。利用電路仿真軟件設(shè)計(jì)電路圖，調(diào)試單片機(jī)程序，完成電氣控制部分的設(shè)計(jì)。五、課題進(jìn)展計(jì)劃1、查閱有關(guān)技術(shù)文獻(xiàn)，翻譯英文文獻(xiàn)，了 第七學(xué)期內(nèi)完成解技術(shù)的國(guó)內(nèi)外現(xiàn)狀和發(fā)展趨勢(shì) 2、座椅新方案確定 第七學(xué)期內(nèi)完成3、座椅的總體方案確定 第七學(xué)期內(nèi)完成4、動(dòng)力分析、主要傳動(dòng)參數(shù)確定 1 周5、機(jī)械系統(tǒng)機(jī)構(gòu)的設(shè)計(jì) 2.5 周6、控制系統(tǒng)設(shè)計(jì)（含程序設(shè)計(jì)） 2 周7、三維設(shè)計(jì)、干涉檢驗(yàn) 2 周8、機(jī)械機(jī)構(gòu)參數(shù)優(yōu)化及主要零件校核 3 周9、繪制座椅總圖、零件圖工作圖 2.5 周10、撰寫(xiě)畢業(yè)設(shè)計(jì)說(shuō)明書(shū) 1 周11、提交設(shè)計(jì)資料、答辯準(zhǔn)備 1 周六、 主要參考文獻(xiàn)[1] 袁劍雄，李晨霞 潘承怡編，《機(jī)械結(jié)構(gòu)設(shè)計(jì)禁忌》，機(jī)械工業(yè)出版社，2008.06[2] 張建民主編，《機(jī)電一體化系統(tǒng)設(shè)計(jì)》，高等教育出版社，2000.07[3] 王淑芳著，《電機(jī)驅(qū)動(dòng)技術(shù)》，科學(xué)教育出版社，2008[4] 成大先著，《機(jī)械設(shè)計(jì)手冊(cè)》單行本-機(jī)構(gòu)，化學(xué)工業(yè)出版社，2004.01[5] 孔凌嘉著，《簡(jiǎn)明機(jī)械設(shè)計(jì)手冊(cè)》，北京理工大學(xué)出版社，2008.02[6] 傅蔡安，吳永祥，謝家瀛著，《連桿機(jī)構(gòu)設(shè)計(jì)與應(yīng)用創(chuàng)新》，2008.01[7] 華大年，華志宏著，《材料成形及機(jī)械制造工藝基礎(chǔ)》，2002.11[8] 張毅剛著，《單片機(jī)原理及應(yīng)用》，2003.12[9] 魏崢著，《三維計(jì)算機(jī)輔助設(shè)計(jì)—SolidWorks 實(shí)用教程》，2007.05[10] 【JIS 日本標(biāo)準(zhǔn)】JIS T9206-2001 電動(dòng)輪椅和機(jī)動(dòng)拖斗電磁兼容性的要求和試驗(yàn)方法[11] 賈民平，張洪亭，周劍英著，《測(cè)試技術(shù)》，2001.12[12] 鄧星鐘著，《機(jī)電傳動(dòng)控制》，2000.06[13] 王知行，鄧宗全著，《機(jī)械原理》，2000.02[14] 曹巖，趙汝嘉著，《Solidworks2007 精通篇》，2007.12[15] 胡鳳蘭著，《互換性與技術(shù)測(cè)量基礎(chǔ)》，2005.02 [16] S. H. Lu and C. C. Lee, “Interferometry Measurement of Gauge Block Using External Cavity Diode Laser”, International Symposium on Precision Mechanical Measurement, Aug. 12-22, (2002), Hefei-Jinan, China.[17] JIS T9255-2007 Chairs and seats with electrical mechanisms assist standing up and sitting down.pdf指導(dǎo)教師評(píng)語(yǔ):指 導(dǎo) 教 師 簽 字 年 月 日評(píng)議小組意見(jiàn)1、論文選題：□有理論意義；□有工程背景；□有實(shí)用價(jià)值；□意義不大。2、論文的難度：□偏高；□適當(dāng)；□偏低。3、論文的工作量：□偏大；□適當(dāng)；□偏小。4、設(shè)計(jì)或研究方案的可行性：□好；□較好；□一般；□不可行。5、學(xué)生對(duì)文獻(xiàn)資料及課題的了解程度：□好；□較好；□一般；□較差。6、學(xué)生在論文選題報(bào)告中反映出的綜合能力和表達(dá)能力：□好；□較好；□一般；□較差。7、學(xué)生在論文選題報(bào)告中反映出的創(chuàng)新能力：□好；□較好；□一般；□較差。8、對(duì)論文選題報(bào)告的總體評(píng)價(jià)：□好；□較好；□一般；□較差（在相應(yīng)的方塊內(nèi)作記號(hào)“√” ）二級(jí)學(xué)院所確定評(píng)議小組名單（3-5人）組長(zhǎng)： 、組員： 、 、 、 單位蓋章 主管領(lǐng)導(dǎo)簽名： 年 月 日評(píng)議結(jié)論評(píng)議小組組長(zhǎng)簽名：評(píng)議小組組員簽名：年 月 日輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì) I摘 要為了適應(yīng)中國(guó)部分城市老齡化的現(xiàn)狀和老人及殘障人士的需求，設(shè)計(jì)一種方便坐立并輕松站立的輔助型座椅，可實(shí)現(xiàn)座椅的移動(dòng)，升降，轉(zhuǎn)向等功能，為未來(lái)老人和殘疾人的家居生活提供新模式和新概念并促進(jìn)助老/助殘系列化服務(wù)機(jī)器人產(chǎn)品的發(fā)展智能機(jī)器人的應(yīng)用。本文運(yùn)用機(jī)械系統(tǒng)動(dòng)力學(xué)分析軟件ADAMS對(duì)輔助站立座椅的推桿及座椅前板進(jìn)行運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)分析和優(yōu)化。基于AT89C51單片機(jī)實(shí)現(xiàn)對(duì)座椅的控制，通過(guò)對(duì)電動(dòng)推桿及直流電機(jī)的正反轉(zhuǎn)控制，實(shí)現(xiàn)對(duì)座椅位姿的調(diào)節(jié)。使用三維建模軟件SOLIDWORKS對(duì)座椅建模并進(jìn)行干涉檢驗(yàn)。關(guān)鍵詞：輔助站立座椅，單片機(jī)，ADAMS，連桿機(jī)構(gòu)輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì) IIAbstractIn order to adapt to the Chinese part city aging actuality and the elderly and the disabled needs, design a convenient sitting and standing relaxed auxiliary type seat, can realize the moving seat, lifting, steering and other functions, for the future of the elderly and the disabled, home furnishing life offers a new mode and new concept and the promotion of the elderly and the disabled seriation service product development of intelligent robot application.Based on the mechanical system dynamics analysis software ADAMS on assistive chair putt and the front seat plate kinematics and dynamics analysis and optimization. Based on the AT89C51MCU to control the seat, electric putter and DC motor control, the seat position adjustment. Use of 3D modeling software SOLIDWORKS to seat modeling and interference checking.Key words: Assistive chair, Single chip microcomputer(SCM), ADAMS, Link mechanism輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì) III目 錄1 緒論 .11.1課題的來(lái)源、目的、意義 .11.2國(guó)內(nèi)外基本情況 .21.3本文主要研究?jī)?nèi)容 .61.4本章小結(jié) .82 座椅結(jié)構(gòu)的整體方案 .82.1 護(hù)理要求 82.2 輔助站立座椅的總體方案 82.5 構(gòu)想的成型 92.6 輔助站立座椅的組成 102.7 本章小結(jié) 103 座椅的結(jié)構(gòu)設(shè)計(jì) 113.1 引言 113.2 輔助站立座椅的機(jī)構(gòu)介紹 113.3初步確定機(jī)構(gòu)中個(gè)桿件的尺寸 .123.4輔助站立輪椅的三維建模與干涉檢驗(yàn) .133.5 本章小結(jié) 144 座椅部分零件的校核 154.1 引言 154.2 力學(xué)計(jì)算 154.3本章小結(jié) .195 座椅推桿的動(dòng)力分析及前座板的運(yùn)動(dòng)分析 205.1 引言 205.2 運(yùn)動(dòng)機(jī)構(gòu)的動(dòng)力學(xué)分析 205.3 本章小結(jié) 396.輔助站立輪椅控制系統(tǒng)設(shè)計(jì) 406.1 引言 406.2 控制系統(tǒng)方案 406.3 控制系統(tǒng)邏輯 40輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì) IV6.4 控制系統(tǒng)硬件設(shè)計(jì) 416.5按鍵電路互鎖 .466.6 本章小結(jié) 467 結(jié)論 478 參考文獻(xiàn) 489 致謝 49輔助站立座椅的新結(jié)構(gòu)及控制系統(tǒng)設(shè)計(jì) 1輔助站立輪椅 （文獻(xiàn)翻譯) 11輔助輪椅的設(shè)計(jì)美國(guó)專(zhuān)利4519649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。輔助站立輪椅 （文獻(xiàn)翻譯) 223.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：2.1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(hù)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。輔助站立輪椅 （文獻(xiàn)翻譯) 442.2 相關(guān)的圖紙F(tuán)IG. 1是一個(gè)側(cè)視圖。根據(jù)本發(fā)明的一個(gè)實(shí)例中的輪椅;輔助站立輪椅 （文獻(xiàn)翻譯) 55FIG. 2圖1的后視圖FIG. 3 是一個(gè)透視圖顯示的狀態(tài)，其中一個(gè)被用來(lái)作為一個(gè)擴(kuò)展部件的氣彈簧;輔助站立輪椅 （文獻(xiàn)翻譯) 66FIG. 4 是一個(gè)圖表，顯示的座位角度（站立的角度）和應(yīng)用于座椅和腳踏板的負(fù)荷之間的關(guān)系3 優(yōu)選實(shí)施的案例：在圖1和圖2，參考圖1代表一個(gè)主體，支撐驅(qū)動(dòng)2和第3輪輔助輪。肘支撐4個(gè)固定上部的主構(gòu)件，每邊1個(gè)。參考5代表身體支撐架肢體較低的支撐部件6，腰部支撐構(gòu)件7和8靠背構(gòu)件組成。這些構(gòu)件是連接相鄰部件彼此之間的相對(duì)回轉(zhuǎn)的方式。一個(gè)腳踏板和著地部件10是固定的低端下肢的支撐構(gòu)件6。 7腰部支撐構(gòu)件的尖端是彎曲的并且弓狀形式和一個(gè)支架11固定弓狀部分，其安裝前部的主框架由一個(gè)支點(diǎn)12 和1?？勘硺?gòu)件8，腰部支撐構(gòu)件7和下肢支撐構(gòu)件6連接兩個(gè)4桿的鏈接到另一個(gè)獨(dú)立的機(jī)構(gòu)，包括身體支撐架5。在這些鏈接，靠背8部件和腰部支撐部件7環(huán)節(jié)是連接 A 和 B 的支點(diǎn)12 1 4桿的平行四邊形鏈接，并鏈接腰部支撐構(gòu)件7和下肢的支撐構(gòu)件6是一個(gè)4桿的鏈路輔助站立輪椅 （文獻(xiàn)翻譯) 77連接的部件，6，7和鏈接 C 至支點(diǎn)12之間的聯(lián)合，并可能有一個(gè)任意的或可選的長(zhǎng)度。這兩個(gè)鏈接機(jī)制是安裝在主體1。一個(gè)氣彈簧作為一個(gè)升縮的部件13中間之間的主體1和腰部支撐構(gòu)件7收縮的彈簧13支撐，可以提高和支持點(diǎn)作為支點(diǎn)12腰部支撐構(gòu)件7 。這氣彈簧是一種利用高壓氣體密封在缸14如圖壓力的一個(gè)彈簧。 部件3啟動(dòng)，并在任意位置停止，活塞和氣缸內(nèi)的活塞連接到一桿15。一個(gè)氣彈簧接收機(jī)構(gòu)16安裝到主體1，而15桿裝有腰部支撐構(gòu)件7。操作一個(gè)閥門(mén)的操作按鈕17（以下簡(jiǎn)稱(chēng)為“鎖定按鈕” ） ，可以通過(guò)遠(yuǎn)程控制操作桿18安裝到手肘支撐成員4。在圖紙上，參考數(shù)字19代表的操作線20是一個(gè)閥門(mén)操作桿。當(dāng)操作桿18啟動(dòng)，閥門(mén)操作桿20和17閥門(mén)的操作按鈕被啟動(dòng)箭頭指示的方向和釋放鎖氣彈簧13。握操作桿18時(shí)被釋放，另一方面，閥操作桿20和17閥門(mén)的操作按鈕啟動(dòng)以相反的方向鎖定，即氣彈簧13。在輪椅上，動(dòng)力依靠推輪椅的用戶(hù)（推高了用戶(hù)的上肢身體力量）和反應(yīng)氣彈簧的力量。用戶(hù)可以通過(guò)使用這兩種力的獨(dú)立姿態(tài)。的使用方式如下。輪椅上站起來(lái)，需要先剎車(chē)，膝蓋和腰部使用者的身體會(huì)被牢牢地固定皮帶輪椅。準(zhǔn)備完成后，安裝操作桿18肘支撐構(gòu)件4可啟動(dòng)，氣彈簧17鎖定按鈕被壓下，以便打開(kāi)氣彈簧鎖。在氣彈簧的鎖被釋放的階段，開(kāi)始動(dòng)作。在這種情況下，用戶(hù)把他或她的手的手肘支撐件4，然后推動(dòng)機(jī)構(gòu)，以減少他或她的體重經(jīng)座位15桿氣彈簧，這樣延伸，使氣體反應(yīng)的座位輪椅開(kāi)始提升。用戶(hù)在待機(jī)期間，18桿處在一個(gè)理想的高度，以消除鎖定按鈕17的推力和鎖定氣彈簧。因此，可以固定在那個(gè)位置的座位。要返回從站立的姿勢(shì)到坐姿，首先鎖定氣彈簧被釋放的18桿，并同時(shí)抓住肘部支撐件4用戶(hù)會(huì)降低他或她的身體，以能夠使引導(dǎo)他她的體重的座位上。在這種情況下，用戶(hù)的重量，克服了氣體反應(yīng)和桿氣彈簧的合力，這樣的座位開(kāi)始緩慢降低。在這種情況下，用戶(hù)可以固定在所需的位置鎖定氣彈簧座椅。以上所述，站立時(shí)腰部支撐構(gòu)件的最大角度相對(duì)水平面為75度，其角度可以很容易地設(shè)置用戶(hù)所需的任何值。在站立的的靠背部件8角度可始終保持不變，使鏈接8構(gòu)件和腰部支撐成員7的平行四邊形的4桿的水平。下肢支持成員6部分可以逐步擴(kuò)展方面的腰部支撐構(gòu)件按7，以便它可以對(duì)應(yīng)的伸長(zhǎng)與他或她的膝關(guān)節(jié)他或她的膝蓋以下的部分用戶(hù)在伸長(zhǎng)的位置行動(dòng)。這個(gè)伸長(zhǎng)的實(shí)現(xiàn)，因?yàn)橛幸粋€(gè)任意長(zhǎng)度的4桿鏈接腰部支撐部件7和下肢的支撐構(gòu)件6的鏈接。在以上所述的闡述中，延伸的數(shù)量是50毫米，最大的站立，但值可以適當(dāng)調(diào)整，根據(jù)用戶(hù)的愿望。俯臥的支撐是站立時(shí)必要，直到腰部支撐部件7變?yōu)橄鄬?duì)水平面的30°，但超過(guò)30°時(shí)，站立只能由氣彈簧的力量來(lái)完成。其他各種調(diào)整，可根據(jù)用戶(hù)的重量，通過(guò)適當(dāng)調(diào)整氣彈簧的反應(yīng)，此外，氣彈簧，可輕松更換。圖4底角（獨(dú)立角度的腰部支撐構(gòu)件7）和負(fù)載之間的關(guān)系是一個(gè)圖表，顯示一個(gè)座位和座位之間的角度和負(fù)載 B 腳踏板9。橫坐標(biāo)代表的座位角（度） ，縱負(fù)荷（kgf） 。從輔助站立輪椅 （文獻(xiàn)翻譯) 88圖中可以明顯的看出，主要承擔(dān)用戶(hù)的重量座位時(shí)的角度小，是由腳踏板和座椅時(shí)的角度是較大的承載。因此，用戶(hù)可以不施加過(guò)多的力量需要保持坐姿或站立的姿勢(shì)。此外，部分是因?yàn)轶w重的載荷，甚至在座位的最高站立時(shí)，用戶(hù)可以放心對(duì)背部，并順利的工作在站立姿勢(shì)。雖然是固定的腳踏板和著地部件10下肢支撐構(gòu)件在上述體現(xiàn)6中，用戶(hù)可以移動(dòng)，同時(shí)保持獨(dú)立的姿態(tài)，如果還裝有小輪子的輪椅。驅(qū)動(dòng)輪也可能是其操作開(kāi)關(guān)的電動(dòng)型，安裝操作方便輪椅手肘支撐。雖然是不可折疊的輪椅但它可以改變一個(gè)可折疊的類(lèi)型納入一個(gè)折疊的機(jī)制。按照本發(fā)明，身體支撐架由下肢支撐構(gòu)件，腰部支撐構(gòu)件和靠背機(jī)構(gòu)8驅(qū)動(dòng)伸長(zhǎng)部件的鏈接機(jī)制的巧妙結(jié)合。因此，輪椅使用者可以很容易地從坐姿改變到一個(gè)獨(dú)立站立的位置，反之亦然。即使當(dāng)用戶(hù)承擔(dān)獨(dú)立的姿態(tài)，他或她可以支持身體的支撐框架，使他或她能夠順利地開(kāi)展工作在獨(dú)立的站姿姿態(tài)。由于用戶(hù)可以利用和保持獨(dú)立的姿態(tài)，褥瘡和殘疾人關(guān)節(jié)攣縮與很少或沒(méi)有下肢的功能是可以預(yù)防的。伸縮機(jī)構(gòu)的氣彈簧的使用，使得其持續(xù)并順利地從坐姿改變身體的位置姿態(tài)，反之亦然?？梢栽O(shè)置其位置，并固定在所需的姿態(tài)，更可以使用戶(hù)在沒(méi)有任何幫助的情況下的姿勢(shì)轉(zhuǎn)變。此外，從坐姿轉(zhuǎn)移到獨(dú)立的姿態(tài)，反之亦然，因?yàn)槭謩?dòng)都可以生效，本發(fā)明的輪椅操作簡(jiǎn)便，并能消除用戶(hù)反復(fù)使用和保養(yǎng)所造成可能的危險(xiǎn)。.輔助站立輪椅 （文獻(xiàn)翻譯) 99WheelchairUnited States Patent 4519649Abstract:A 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: 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; and輔助站立輪椅 （文獻(xiàn)翻譯) 1010locking 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.輔助站立輪椅 （文獻(xiàn)翻譯) 1111Description: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.輔助站立輪椅 （文獻(xiàn)翻譯) 1212DRAWINGSFIG. 1 is a side view showing the wheelchair in accordance with one embodiment of the present invention;輔助站立輪椅 （文獻(xiàn)翻譯) 1313FIG. 2 is a rear view of FIG. 1;輔助站立輪椅 （文獻(xiàn)翻譯) 1414FIG. 3 is a perspective view showing the state in which a gas spring as an extension member is used; FIG. 4 is a diagram showing the relation between the seat angle (stand-up angle) and the load applied to the seat and to the foot plate.輔助站立輪椅 （文獻(xiàn)翻譯) 1515PREFERRED 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 “l(fā)ock 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.輔助站立輪椅 （文獻(xiàn)翻譯) 1616The 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 user's 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 user's 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 user's 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.輔助站立輪椅 （文獻(xiàn)翻譯) 11FIG. 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.