201244707 六、發明說明： 【發明所屬之技術領域】 絲發明疋有關於—種輪椅的座椅機構，θ右關於一 椅之史都華平台(~二 【先前技術】 對於行動不便的人，例如身章 以協助其行動，然而對 年人專，使用輪椅可 者，由於本身無法自行推動:椅支用者或是高齡 電:::r方式_仍==: 斷能力。^ <至使輪椅本身擁有_機器人之感測、判 論文中扣沖7工加 eichair廷個名詞，他們的 助操作者迴避障礙物、到“二;用==作上’能夠辅 a祕仏肩]，開創了「機 ===叫 研究領域。 灯(r0D0tlc wheelchair)」的 墊、避::，:的研究方向大多著重於硬體結構開發，如坐 要疋上下南度的調整，而沒有左右橫移的 4/22 201244707 功能。 【發明内容】 其具有輕量性丄性，ί: = : =發明提出—種智_機器 ，包括可動板、固定架與四支1斜。鋪機構 一接點、-第連卜。固定架具有一第 Wk^L^ ” 第二接點與一第四接點，1中第一接 動板的下方。第一可變吾声心^一接‘讀細妾點位於可 第-端梗接於 、又干々第一端樞接於第一接點，其 ;:=?板。第二可變長度連桿的第-端樞接於第二 = 接於可動板。第三可變長度連桿的第丄 纽。側立木，弟一接點與該二接點位於側 鮮四接點位於底座上。其中，該可動板的位置#接= 弟四可變長度連桿的長度改變。 ▲亥至 在本發明一實施例中，上述可 接頭連接至可動板，經由萬向接= 經由球 二連桿另也r由萬向接頭連接至可動板二二二變 口疋木。另外，上述可變長度連桿的兩端 要至 接頭或球接頭插接至可動板與固 5的萬向 =:::，，置於第，與第限r 度，弟-限位件具有第二承靠斜面以限制第二可變長度連= 5/22 201244707 傾斜角度。座椅機構中更包括—麥飢倫輪㈤似麵術⑷組 設置於該固定架的下方。 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 ’使座塾可以具有左右橫移、前後移動與娜等娜功能，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。 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。 【實施方式】 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m中的相同參考數字可用以表示類似的元 件。 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。座椅機構觸包括固定架110、可動板120 與四支線性制動n Ml〜〗44。S)定架no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⑽上方的接 、占11a llb，底座112上具有兩個位於可動板12〇下方的接 點11c、lid。可動板120上具有對應的四個接點i2a、丨^、 12c、12d ’其中接點12a、12b位於可動板12〇的第一側邊， 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11〇上的接點Ua， 另一端樞接於可動板120上的接點12a;線性制動器i42的一 端樞接於固定架110上的接點Ub，另一端樞接於可動板12〇 上的接點12 b;線性制動H M3的-端樞接於底座112上的接 6/22 201244707 點l]c，另一端樞接於可動板12〇上的接點12c ;線性制動哭 144的一端樞接於底座112上的接點〗ld，另一端樞接於可^ 板120上的接點12d。其中’在本實施例中，線性制動器 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】41〜】44。 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翻與萬向接頭以對 應樞接於可純12G與固定架11()上。以線性觸器⑷為例 ，線性制動器141具有本體141a與軸向桿14比，軸向桿14比 的-端位於本體⑷a並連接於本體⑷a。線性制動器⑷的 軸向桿】仙可沿著轴向位移以調整轴向桿141b伸出的長度。 軸向桿1仙的前端設置有球接頭151以樞接於可動板12〇上 ，接點12a。本體141a的底部具有萬向接頭161以枢接於側向 杀114上的接點iia。 、同樣的，線性制動器142的轴向桿的前端具有球接頭152 乂樞接於可動板120上的接點12b，其本體的底部具有萬向接 :員⑹以樞接於側㈣114上的接點m。線性制動器143的 =向桿的前端具有球接頭153以樞接於可動板⑽上的接點 c ’其本體的底部具有萬向接頭163以減於底座Μ上的 妾點山。線性制動器144的轴向桿的前端具有球接頭154以 =妾於可動板m上的接點12d，其本體的底部具有萬向接頭 164以樞接於底座Π2上的接點lld。 如圖！所示，四支線性制動器141〜i44連接至可動板i2〇 ^成四軸的鶴機構。其中線性制動器⑷、⑷由可動板12〇 方連接至可動板120以提供懸吊的拉力至可動板12〇，線性 7/22 201244707 制動器143、144由可動板120下方連接至可動板12〇以提供 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12〇的位置會隨著線性制動器 141〜144的長度改變。線性制動器]41〜144的長度與可動板丨二 勺位置之間的運真可以透過順向運動學(F〇rwarcj kinematjcs) 或逆向運動學(Inverse kinematics)來運算。 在導入運動學之前，先建立兩個空間向量如下： ⑴Cartesian space[x，少，z，《，久rfT，其中[χ，少，习表可動板 原點的位置，[β，久y]為可動板與χ，少，ζ三軸的夾角。 (2) Joint spaced &，&，5·4]τ，其中&分別表示4支線性 制動器的長度。 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12〇的位置 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12〇的座標及角 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’貫務應用上，本實施例可動板12〇的定位方式較佳是 採用逆向運動學的方式。 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， 可達到座墊垂直咼度往下降之效果。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 8/22 201244707 度，線性致動|§ 142、144伸長長度，可達到座塾垂直高度不 變，而往右橫移之效果。反之，當線性致動器141 '】43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（14】、143或是】42、]44)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。 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 逆向運動學隸算，在經由上述實闕的說明後，本技術領域 具有通常知識者應可輕易推知，在此不加累述。 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ι16、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u6具有承靠斜面n6a。 線性制動器141會承靠在承靠斜面U6a上而形成例如衫度的 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U6a移動。同理，線性制動器μ〕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 9/22 201244707 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。 請參照圖1，在本實施例中，座椅機構1〇〇更包括設置於 底座Π2的底側的輪子171〜174，其輪子]71〜174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 。其中，輪子171〜174可由四個麥凱倫輪(Mecanum whed)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3U，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 的正反轉或知止，改變χγ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 飢倫輪組的設置方式示意圖。座椅機構4〇〇以簡圖示意，其下 方设置有四個麥凯倫輪41〇〜44〇所組成的麥訊倫輪组。苴中， 前方兩個麥飢倫輪41〇、42〇為一組，後方兩個麥凯倫輪43〇 、4s40為一組。由其自由滾子411 ' 421、431、441的設置方 向疋對稱的。藉由麥凱倫輪41〇〜44〇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。 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Ua與接點llb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lld之間的距離大於接點12c與接 點⑶之間的距離。因此，線性制動器14卜142是由外側向 内側方向且由上方連接至可動板12Q，而線性制動器143、144 10/22 201244707 财向且由下转接至可触⑽。值得注意的 疋太A明、’a 141〜144之間的傾斜角度可依照設計需求而定 ’柄明亚不受限。固定架110呈現匕型’但本發明的固定架 限制。_lj動器141〜144例如大銀微系統股 71 ( A S彳出產的型號LASW-LbOAG的線性制動器， ^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_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，魏TA7257p)雜觸器、⑷〜⑷，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 離。 此外，在調整座椅機構丨2〇的座墊高度與位置時，為讓使 用者更為舒適與安全’座塾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。 在導入運動學之前’先建立兩個空間向量如下： ⑴ Cartesian space[x，y，z，《，久 y]T，其中[χ，γ 刁表可動板 原點的位置，[β，/?，y]為可動板與χ，少，Ζ三軸的夾角。 (2) Joint spaced心心仏]7' ’其中&分別表示4支線性 制動器的長度。 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 11/22 201244707 的位置及角度不-’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 ⑽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。 •只是在調整過程中，運算可變長度連桿141〜H4的長度 二的糸統運鼻資源。因此在驅動方面，本發明配合提 ?二异可變長度連桿長度方法。座墊可設置在可動板12〇 毛月e建立座塾中心點(可動板12〇中心點)可行的工作 空間’以座塾中心點作為參考座標，紀錄座塾的移動範圍並將 工作空間触化。賴1料_:纽會齡有錢中心點的 座標與其對應的可變長度連桿⑷〜144的長度。也就是說，工 作二間會包括多個參考座標與對應的四個可變長 值以對應於可變長度連桿14]〜144的長度。 又 每-個參考座標龍的可變長錢桿長朗會考慮可動 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no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。 當使用者需要調整座墊位置時，座椅機構1〇〇會依照工作 空間預先規劃座塾每次的移動路徑’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^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。 因此’當使用者需要左右橫移座墊時，其移動的 可動板120會保持水平不會讓使用者感到不適或有摔彳^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 12/22 201244707 動益）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。 本發明將座墊中心點之最大工作空間以10_ (微米)為一單位 ，將座墊的工作空間劃分為例如2,〇28個位置點，但其中包含呼多 =可行或希望避免之位置點。本發日脉缸作郎_座塾3移動夕 橫移路徑時，預設以下三項條件： (1) 座墊在作垂直高度調整前，座墊中心點的左右調整G軸座 標）與座墊前後翻滾角度都必須先歸零。 (2) 座墊在左右橫移調整前，座墊前後翻滾角度必須先歸零， 過程中座墊南度必須保持不變（座墊中心點χ轴與2軸座標 必須保持不變）。 (3) 座墊在前後翻滾調整時，座墊中心點的左右調整&軸座標 )必須先歸零。 明麥照圖5與圖6’圖5繪示本發明實施例的座墊可行空間範 圍的部分座標龍。® 6繪示本發明實施_錄可行空間範圍 示意圖。在圖5巾，以三維的直角座標系(又，y，ζ)來表示座墊的中 。2座^。在如述二項條件下，圖$為座塾中心點的可行工作空 間範圍。例如座塾中心點座標在(〇, 〇, 〇)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肖度的範g逐漸減小；座塾 在最高或最低位置時(z=士 65_時，座墊左右橫移和翻轉角度的範 圍皆為零。目6為座塾可行工作空間（斜線部分），當座塾作垂直 同度。周整4 ’如後移動會隨之變化，即座墊中心點X座標和z座標 13/22 201244707 是相依(dependent)的，所以圖5座墊中心點可行工作空間不需考慮 中點座標。 規劃出座射城之可行，接下來將可行工作空 間的z軸方向以每10麵為一單位，劃分出13個可供垂直高度^ 整之位置點；左右橫移赃方面，根據這13個可作高度^整 位置點之痛可橫移範_每ι〇_為-單位，劃分出共計^43 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 正（少轴座才不）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1H_滾肢為零之位置點），加上㈠〇, 〇, 65)和(30, 〇, -65)這兩個位置點（垂直高度之最高處與最低處）。’ 把二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為州 ’即使用者可操控座墊達成之所有工作位置點。卫健間中的位 置點數目會依照座椅機構100的整體機構而變，上述個位 置點僅為範例，本發明並不受限於此。 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，同時縣·可行動作路徑。舉例 來說，如圖6所示，如果可動板12〇的目前位置點為(〇, 〇, 〇) 所要達到的目b位置點為(X，20, 60)，其移動路徑可設定為 610或<520。若可動板12〇是經由移動路徑61〇移動至目標位 置點’則可變長度連桿141〜144會根據移動路徑61〇上的參考 座標，逐一調整長度，使可動板120達到路徑中的每一個參考 14/22 201244707 座仏後再。輕至目標位置點。例如，可動板I] 參考座標川的調整動作，然後再調整至下—個 =位置點。依此類推，使可動板12Q沿著移動路㈣g職目― :置點(X，2〇, 6〇)。同理’若選擇經由移動路徑620移動至 目標位置點’可動板12G沿著移動路徑62q上的 步調整至目標參考點(x，2〇,6〇)。 〃亏压軚逐 使用者乘坐於座塾時，透過對外在環境的感知， 者舒適姿勢，操作座墊調整垂直 、 二 ，士使錢到達可行工作空間中預先^劃的位==== 時，本實施例利用預先於儲存的資夕坐 ⑷〜Η4，讓座墊可以依昭預子先整可變長度連桿 並且避組細顿編輯需的位置 介*二=者===:實施例提供-個使用者 可以讓朗者轉㈣墊位置與歧。在與轉動鍵’ 原則操作： 本乍上，需要依照下列 ⑴無法同時執行兩種以上調整動作， 座墊將不作動，前-調整動作 τ兩個以上按鍵 鍵，後者調整動作無效。6未4則，如又按下其他按 (2)執行調整垂直高度或_翻滾時 為零，會先自動歸零，再執行欲調整之_左右橫移量不 零，會先自輯，再=^1=錄麵不為 15/22 201244707 在前述規劃下，雜在可行χ作空間中的移動，都是依據預先 規劃、唯-的路徑，以確保安全及穩紐。本發日聰可行工作空 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^ 作空間中已劃分好之295個位置點也逐—編號，並計算出每個位 置點所對應的4支可變長度連桿M1〜144應有的伸長量，建立成 位置表格並撰寫於程式巾。如要移動至欲達成之位置時，程 需控制4支可變長度連桿141〜144的伸長量，不需要做逆向^ 學的計算。在本實施辦，座墊每次移_距離為1()麵（每個位 置點至鄰近的下-個位置點距離為1()職，不包含翻滚的位置⑴ ’母支可變長度連桿每次所變化之長度不會超過2()職。 度，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。 置點設定為欲到達 (1)糸統啟動後，程式自動將預設之初始位 之目標點。 (2) 將座塾軸到達初始位置點後，等待輸人調整模式。 (3) 如只輸人-種調整模式’則往下—步流程；如在輸入 調整赋過程中又輸人另—_整模式，雌留前者並且刪 除後者，往下—步_ ;如在移絲目標位迦的過程 =調整模式除在軸輕情人之難㈣；如同時 輸入兩種以上調整模式，則刪除所輸入之調整 (4)判斷目前所處位置點之編號。 種 ⑶如是垂直高度位置點之顧，輸人之模式可 調整模式中任意一種調整模式。 一 16/22 201244707 (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 矛夕可作動’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。 (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。 (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。 ^值得庄意的是，上述控制程式的流程僅為本發明的示範性實 施例丄其控制流程的細節可以依照不_設計需求娜，本發二 並不受限。 又 由上述可知’本發明的座椅機構1〇〇具有 而且具有™作介面，可= ，ΐ以實⑽上的感測裝置與無線傳輸裝置 中即可，太系統整合在座椅機構ι〇〇之 本毛月不限制資料處理的方式。 絲击卜線丨生制動②141〜144兩端的接頭需要1有夕太a 轉動的魏，可以依照設計需求 2接有夕方向 線性制動器141的4向接碩，例如 端則使用球接頭連接 °頭太:妾至可動板12〇’另- 要至口疋木110。本發明並不限制線性制動 !7/22 201244707 器⑷兩端所使用的接頭形式 可調整長度的連桿取代，本發明並^⑷可以使用 ，只要長度可調整即可。 不_其連桿的形式與架構 綜上所述，本發明利用四軸的 塾可以具有左右橫移、高度調整、前 椅 度的調整功能’藉此讓使用者在使用電動== 雖然本發明之較佳實施例已揭露如上，然本發明 :土_列，任何所屬技術領域中具有通常知識者，在ς:: 離本舍明所揭露之範_，當可作些許之更動與調整，因 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。本 【圖式簡單說明】 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。 圖2為根據本實施例的限位件丨16示意圖。 圖3Α與圖3Β繪示麥凱倫輪的結構示意圖。 圖4繪示麥凱倫輪組的設置方式示意圖。 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。 丁 圖6繪示本發明實施例的座墊可行空間範圍示意圖。 圖7繪示本實施例的使用者介面(控制面板)示意圖。 【主要元件符號說明】 100 :座椅機構 Η0 :固定架 112 :底座 18/22 201244707 114 :側立架 116、Π8 :限位件 11a、lib、11c、lid :接點 12a、12b、12c、12d :接點 116a :承靠斜面 120 :可動板 141〜144 :線性制動器 141a :本體 141b :軸向桿 151〜154 :球接頭 161〜164 :萬向接頭 171〜174 :輪子 3 00 .麥凱倫輪 311、411、42卜 431、441 :自由滚子 400 :座椅機構 41〇〜440 :麥凱倫輪 610、 620 :移動路徑 611、 612 :參考座標 19/22201244707 VI. Description of the invention: [Technical field of invention] Silk invention has a seat mechanism for a wheelchair, θ right about a chair of the Stewart platform (~2 [previous technique] For people with limited mobility, for example The body is designed to assist in its actions. However, for the elderly, wheelchair users can not push themselves: chair users or seniors:::r mode_still==: breaking ability.^ <to The wheelchair itself has the _ robot's sense, the papers in the papers, and the eiphone court. They help the operator to avoid obstacles, to "two; with == for 'can be used to assist a secret shoulder", create The "machine === called research field. Lamp (r0D0tlc wheelchair)" pad, avoid::,: The research direction is mostly focused on the development of hardware structure, such as sitting on the adjustment of the north and south, without left and right traverse 4/22 201244707 Function. [Summary] It is lightweight and 丄: ί: = : = The invention is proposed - the kind of _ machine, including the movable plate, the fixed frame and the four branches 1 slant. - The first connection. The holder has a Wk^L^" second contact and one Four contacts, the first of the first transfer plates in the middle of the first transfer plate. The first variable is the same as the first read end, and the first end is connected to the first end. Point, its;== board. The first end of the second variable length link is pivoted to the second = connected to the movable plate. The third variable length link of the third button. Side standing wood, brother one contact The two contacts are located on the base at the side joints, wherein the position of the movable plate is changed to the length of the fourth variable length link. ▲Hai to an embodiment of the invention, the above joint Connected to the movable plate, through the universal joint = through the ball two links and r from the universal joint to the movable plate 2222. In addition, the two ends of the variable length link to the joint or ball The joint is inserted into the universal plate of the movable plate and the solid 5 =:::, and is placed at the first and the second limit, and the second-receiving member has a second bearing inclined surface to limit the second variable length connection = 5/ 22 201244707 Tilt angle. The seat mechanism further includes a group of (M) hunger wheel (5) facet (4) set under the fixed frame. In summary, the wheelchair of the present invention is proposed. The chair mechanism has a four-axis drive mechanism, and the four-position variable-length connecting rod is used to adjust the position and height of the seat cushion. The seat cushion can have left and right traverse, forward and backward movement and Na-na function, so that the user can For convenience, the seat mechanism of the wheelchair of the present invention has the advantages of high rigidity, multiple degrees of freedom, and light weight. In order to make the above features and advantages of the present invention more apparent, the preferred embodiments are described below, and DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, the same reference numerals will be used to describe similar elements in the present invention by referring to the embodiments of the present invention. FIG. A schematic diagram of the Stewart platform seat mechanism of the intelligent robotic wheelchair of the embodiment. The seat mechanism contacts include a fixed frame 110, a movable plate 120 and four linear brakes n M1 to 44. S) The fixed frame no includes a base 112 and a side stand 114'. The side stand 114 has two joints on the movable plate (10), and 11 a 11b, and the base 112 has two contacts below the movable plate 12? 11c, lid. The movable plate 120 has corresponding four contacts i2a, 丨^, 12c, 12d', wherein the contacts 12a, 12b are located on the first side of the movable plate 12A, and the contacts 12a, 12b are located on the movable plate 120 with respect to The second side of the first side. One end of the linear brake 141 is pivotally connected to the joint Ua on the fixed frame 11b, and the other end is pivotally connected to the joint 12a of the movable plate 120; one end of the linear brake i42 is pivotally connected to the joint Ub on the fixed frame 110, and the other end One end is pivotally connected to the contact point 12 b on the movable plate 12 ;; the end of the linear brake H M3 is pivotally connected to the base 6 / 22 201244707 point l] c, and the other end is pivotally connected to the movable plate 12 的The contact 12c is connected to the contact point ld on the base 112 and the other end is pivotally connected to the contact 12d on the board 120. Wherein, in the present embodiment, the linear brake is used to implement a variable length link, and the position of the movable plate 120 can be determined by the length of the linear brakes 141 to 144. It is worth noting that the 'variable length link can be implemented in other ways, and is not limited to the use of linear brakes 41 to 44. 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 turning and a universal joint to be pivotally connected to the pure 12G and the fixed frame 11 (). Taking the linear contactor (4) as an example, the linear brake 141 has a body 141a ratio with the axial rod 14, and the axial end of the axial rod 14 is located at the body (4)a and is connected to the body (4)a. The axial rod of the linear brake (4) can be displaced along the axial direction to adjust the length of the axial rod 141b. The front end of the axial rod 1 sen is provided with a ball joint 151 to be pivotally connected to the movable plate 12 ,, the joint 12a. The bottom of the body 141a has a universal joint 161 for pivoting the joint iia on the lateral killer 114. Similarly, the front end of the axial rod of the linear brake 142 has a ball joint 152 and a joint 12b pivotally connected to the movable plate 120. The bottom of the body has a universal joint: a member (6) pivotally connected to the side (four) 114. Point m. The front end of the linear brake 143 has a ball joint 153 to be pivotally connected to the movable plate (10). The bottom of the body has a universal joint 163 to reduce the point on the base. The front end of the axial rod of the linear brake 144 has a ball joint 154 to lie on the joint 12d of the movable plate m, and the bottom of the body has a universal joint 164 for pivoting to the joint 11d on the base cymbal 2. As shown! As shown, the four linear brakes 141 to i44 are connected to the movable plate i2〇 into a four-axis crane mechanism. Wherein the linear brakes (4), (4) are connected to the movable plate 120 by the movable plate 12 to provide a suspended pulling force to the movable plate 12A, and the linear 7/22 201244707 brakes 143, 144 are connected to the movable plate 12 by the lower side of the movable plate 120. An upward support force is provided to the movable plate 120. The linear brakes 141 to 144 can withstand axial forces (pull or pressure). The position of the movable plate 12〇 changes with the length of the linear brakes 141 to 144. The movement between the length of the linear brakes 41 to 144 and the position of the movable plate can be calculated by forward kinematics (F〇rwarcj kinematjcs) or inverse kinematics (Inverse kinematics). Before importing kinematics, first create two space vectors as follows: (1) Cartesian space [x, less, z, ", long rfT, where [χ, less, the position of the origin of the movable plate, [β, long y] is The angle between the movable plate and the cymbal, less, and the three axes. (2) Joint spaced &,&,5·4]τ, where & respectively represent the length of the four linear brakes. 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 by the movable plate 120 and the linear brakes 141 to 144 may have different directions, resulting in the position and angle of the movable plate 12〇. Different, so the operation of forward kinematics will produce a majority solution. Reverse kinematics does not have this problem. First, given the coordinates and angle of the movable plate 12', the length of the four linear actuators 141 to 144 obtained by operation will be the only solution. Therefore, in the conventional application, the positioning method of the movable plate 12〇 of the present embodiment is preferably a reverse kinematics. 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 tilt adjustment. When the linear actuators 143, 144 are shortened by the length of the linear actuators 141, 142, the effect of the vertical tilt of the seat cushion is reduced. 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 by 8/22 201244707 degrees , linear actuation | § 142, 144 elongation length, can achieve the vertical height of the seat, and the effect of traversing to the right. Conversely, when the linear actuator 141'] 43 is 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 (14), 143 or 42, 42) on the same side simultaneously increase the length or decrease the length, the movable plate 120 is traversed to the other side. When the linear actuators 143, 144 are extended in length, the linear actuators 141, 142 are also elongated 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 simultaneously increase or decrease the length, the movable plate 120 is tilted forward or backward. 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. Kinematics or inverse kinematics, after the description of the above, the general knowledge of the art should be easily inferred, and will not be described here. The side stand 141 is provided with two limiting members 116, 118 which are respectively disposed below the contacts 11a, 11b. The stoppers ι16, 118 have a bearing slope facing the linear brake for defining the inclination angle of the linear brakes 141, 142 and the direction of movement thereof. For example, FIG. 2 is a schematic view of the limiting member 116 according to the embodiment. The limiting member u6 has a bearing slope n6a. The linear brake 141 will bear against the inclined surface U6a to form an inclination angle of, for example, a shirt. When the linear brake 141 is displaced left and right, it is restricted by the bearing slope 116a and moves along the bearing slope U6a. Similarly, the linear brake μ] will bear against the bearing slope of the limiting member 118 and form an inclination angle 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 at 9/22 201244707. 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 to avoid swaying when the position is adjusted and the user is uncomfortable. Referring to FIG. 1 , in the embodiment, the seat mechanism 1 further includes wheels 171 174 174 disposed on the bottom side of the base cymbal 2 , and the wheels 71 174 174 can cooperate with the driving motor and the control device (not shown). Drive to move the entire seat mechanism. Among them, the wheels 171~174 can be replaced by the McLaren wheelset formed by four Mecanum whed wheels. Referring to FIG. 3A and FIG. 3B, a schematic structural view of the McKinley wheel is shown. The outer ring of the McLaren wheel 300 has a free roller 3U at 45 degrees to the axis. When the wheel rolls, the ground gives the wheel 45 degrees of friction with the shaft. This friction can be divided into X and Y components. By changing the direction of the χγ component by the positive or negative rotation or the knowing 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 McDonald's wheel set. The seat mechanism 4〇〇 is shown in a simplified diagram, and below it is a set of four McLaren wheels 41〇~44〇. In the middle, the two front hunger wheels are 41〇 and 42〇, and the rear two McLaren wheels are 43〇 and 4s40. It is symmetrical by the setting direction of its free rollers 411 '421, 431, 441. The seat mechanism 400 has an omnidirectional movement function of translation and rotation by the direction of rotation of the McLaren wheel 41〇~44〇. 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 Ua and the contact 11b is greater than the distance between the contact 12a and the contact 12b. The distance between the point 11c and the contact 11d is greater than the distance between the contact 12c and the contact (3). Therefore, the linear brake 14 142 is connected from the outer side to the inner side and from the upper side to the movable plate 12Q, while the linear brakes 143, 144 10/22 201244707 are transferred from the lower to the touchable (10). It is worth noting that the tilt angle between 疋太A明 and 'a 141~144 can be determined according to the design requirements. The holder 110 assumes a 匕-type but is limited by the holder of the present invention. The _lj actuators 141 to 144 are, for example, large silver microsystems 71 (linear brakes of the model LASW-LbOAG produced by AS ,, ^The type of linear brake is not limited by the present invention. Position sensing elements can be provided in the linear brakes 141 to 144' Photointerrupter position_device for position feedback. Linear brakes, 141~144 can be used by motor drivers (eg TOSHIBA, Wei TA7257p), (4)~(4), and according to their feedback devices, the current The length is determined by the speed and elongation of the adjustment. In addition, when adjusting the seat cushion height and position of the seat mechanism ,2〇, in order to make the user more comfortable and safe, the movement process of the seat should be smooth and stable. The calculation between the length of the variable length links 141 to 144 and the position of the seat mechanism 120 can be calculated by Forward kinematics or inverse kinematics. The space vectors are as follows: (1) Cartesian space [x, y, z, ", long y] T, where [χ, γ 刁 table the position of the origin of the movable plate, [β, /?, y] is the movable plate and χ, Less, the angle between the three axes. (2) Joint spaced heart 仏] 7' 'where & respectively represent the length of the four linear brakes. When the operation from Joint space to Cartesian space belongs to forward kinematics, otherwise called reverse motion However, even if the lengths of the four variable length links 141 to 144 are determined first, the universal joints in which the seat mechanism 120 and the variable length links 141 to 144 are coupled may have different directions, resulting in seating. The position and angle of the chair mechanism 11/22 201244707 are not - 'so the majority of the solution will be generated by the forward kinematics. There is no such problem in the inverse kinematics. The coordinates and angles of the first (10) are calculated by the operation. The length of the variable length links 141 to 144 will be the only solution. • Only during the adjustment process, the length of the variable length links 141 to H4 is calculated as the length of the nose. Therefore, in terms of driving, the present invention is combined with the improvement. Two different variable length link length method. The seat cushion can be set on the movable plate 12 〇 月 e to establish the seat 塾 center point (the movable plate 12 〇 center point) feasible working space 'with the 塾 center point as the reference coordinate, Ji The moving range of the seat and the working space are touched. Lai 1 material _: the coordinates of the center of the rich center of the New Year's age and its corresponding variable length link (4) ~ 144. That is, the work two will include more The reference coordinates and the corresponding four variable length values correspond to the lengths of the variable length links 14] to 144. Further, the variable length of each of the reference coordinate dragons will consider the level of the movable plate 120, Avoid the occurrence of tilting and flipping. Since the reference coordinates are used to indicate the center position of the movable panel no, two adjacent reference coordinates can be used to indicate two adjacent position points that the movable panel 120 can reach in space. When the user needs to adjust the position of the seat cushion, the seat mechanism 1 预先 pre-plans the movement path of the seat every time according to the work 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 working space, and can be connected to the target position point set by the user from the current position point. Therefore, when the user needs to traverse the seat cushion left and right, the moving movable plate 120 will remain horizontal without causing the user to feel uncomfortable or risk of wrestling, so in addition to the control, in addition to the four variable lengths Rods 141~144 (linear 12/22 201244707 Motivation) are synchronized, and the seat cushion must be moved to a smooth path to avoid interference or motion irregularities. The invention divides the maximum working space of the center point of the seat cushion into a unit of 10_(micrometer), and divides the working space of the seat cushion into, for example, 2, 〇 28 position points, but contains the number of positions that are feasible or desirable to avoid. . When the Japanese Circumferential Cylinder is used to make a traverse path, the following three conditions are preset: (1) Before the seat cushion is adjusted for vertical height, the left and right center points of the seat cushion are adjusted to the G-axis coordinates) The roll angle before and after the pad must be zeroed first. (2) Before the seat cushion is adjusted horizontally, the front and rear roll angles of the seat cushion must be zeroed first. The south seat of the seat cushion must remain unchanged during the process (the center axis of the seat cushion and the 2-axis coordinate must remain unchanged). (3) When the seat cushion is tumbling forward and backward, the left and right adjustment of the center point of the seat cushion & shaft coordinate must be reset to zero. Fig. 5 and Fig. 6' Fig. 5 show a part of the coordinate dragon of the feasible space of the seat cushion according to the embodiment of the present invention. ® 6 shows a schematic diagram of the implementation of the present invention. In Fig. 5, the three-dimensional right angle coordinate system (again, y, ζ) is used to indicate the middle of the seat cushion. 2 seats ^. Under the two conditions described above, the graph $ is the feasible working space range of the center point of the seat. For example, when the coordinate center point coordinates are (〇, 〇, 〇), the left (or right) traverse maximum value is 130mm' and the flippable angle range is _15. ~15. : When the height of the center point of the cushion is adjusted upwards or downwards, the van g of the left and right traverse and the inversion of the seat cushion gradually decrease; when the seat is at the highest or lowest position (z=士65_, the seat cushion traverses left and right) The range of the angle of the flip and the angle of the flip are all zero. The head 6 is the feasible working space (the diagonal part), when the seat is perpendicular to the same degree. The whole 4' will move with the change, that is, the X point of the center point of the seat cushion and z coordinate 13/22 201244707 is dependent, so the feasible working space of the center point of the seat cushion of Figure 5 does not need to consider the midpoint coordinates. Plan the feasibility of the shooting city, then the z-axis direction of the feasible working space 10 faces are a unit, and 13 points for vertical height and ^ are defined. In terms of left and right traverse, the pain can be traversed according to the 13 points that can be used as the height of the whole position. The unit is divided into a total of ^43 points that can be adjusted to the left and right traverse (including 13 points with a horizontal traverse of zero); in terms of front and rear tumbling adjustment, according to the above rule (3), the left and right points of the seat cushion Correction (no shaft seat is not) must be zeroed first, according to these 13 can be made vertical Adjust the range of the reversible angle of the position point, and divide each of the 61 points for the front and rear roll adjustment (including the position where the 1H_roll is zero), plus (1) 〇, 〇, 65) and (30, 〇, -65) are the two positions (the highest and lowest of the vertical height). ' Add the two types of position points that can be used for seat cushion adjustment, and deduct the position of repeated calculation. There are 295 position points in the feasible working space that meet the above three conditions (see Figure 6 for the state's user-controllable seat cushion). All the working position points are reached. The number of position points in the health room varies according to the overall mechanism of the seat mechanism 100. The above position points are merely examples, and the present invention is not limited thereto. The lengths of the variable length links 141 to 144 corresponding thereto are pre-calculated and stored, and the county/feasible action path. For example, as shown in FIG. 6, if the current position of the movable plate 12〇 is (〇, 〇, 〇) The point b to be reached is (X, 20, 60), and the moving path can be set to 610 or < 520. If the movable plate 12 〇 is moved to the target position via the moving path 61 ' The variable length links 141 144 144 are adjusted one by one according to the reference coordinates on the moving path 61 , so that the movable plate 120 reaches each reference in the path 14/22 201244707 and then lightly reaches the target position. For example, for example. , movable plate I] reference seat Sichuan's adjustment action, and then adjust to the next = position = position, and so on, so that the movable plate 12Q along the moving road (four) g job title - : set point (X, 2 〇, 6 〇). Similarly 'if selected Moving to the target position point via the moving path 620 'The movable plate 12G is adjusted to the target reference point (x, 2〇, 6〇) along the step on the moving path 62q. The perception of the external environment, the comfortable posture, the operation of the seat cushion adjustment vertical, the second, the gentleman makes the money reach the pre-marked position in the feasible work space ====, this embodiment uses the pre-stored capital sitting (4)~ Η4, let the seat cushion be able to adjust the length of the connecting rod according to the Zhaozi pre-set and avoid the position required for the group to edit. 2 ====: The embodiment provides - a user can let the person turn the (four) pad position In the operation with the rotary key' principle: On the top, you need to perform two or more adjustment actions at the same time according to the following (1), the seat cushion will not be activated, and the front-adjustment action τ has more than two key buttons, and the latter adjustment action is invalid. 6 is not 4, if you press the other press (2) to adjust the vertical height or _ When the rolling time is zero, it will automatically return to zero first, and then the _ left and right traverse amount to be adjusted is not zero, it will be self-edited, then =^1=the recording surface is not 15/22 201244707 Under the above plan, the miscellaneous is feasible The movements in the production space are based on pre-planned, only----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- The 295 position points that have been divided in the feasible work space are also numbered one by one, and the elongation of the four variable length links M1 to 144 corresponding to each position point is calculated, and the position table is created and written. In the program towel, if it is to be moved to the desired position, the process needs to control the elongation of the four variable length links 141 to 144, and does not need to perform the inverse calculation. In this implementation, the seat cushion is moved every time _ distance is 1 () surface (each position point to the next lower position point distance is 1 () position, does not include the position of the roll (1) 'mother branch variable length The length of the rod will not change more than 2 (). The degree, when the rod is actuated at the same time, can also approach the effect of simultaneous arrival. In the program execution, the control program of this embodiment is carried out according to the following steps. To reach (1) After the start of the system, the program will automatically set the target position of the initial position. (2) After the coordinate axis reaches the initial position, wait for the input adjustment mode. (3) If only the input type The adjustment mode 'is down—step process; if in the process of input adjustment and assignment, another loser - _ whole mode, the female stays the former and deletes the latter, down - step _; as in the process of moving the target position = adjustment The mode is difficult except for the lover in the axis (4); if more than two adjustment modes are input at the same time, the input adjustment is deleted (4) to judge the number of the current position. (3) If it is the vertical height position, the input is The mode can be adjusted in any of the modes. 1/16 20124 4707 (6) If the number of the left and right traverse position points, the input adjustment mode is the left and right trajectory can be activated 'the start to determine the number of the point to be reached; if the input adjustment mode is vertical height and roll forward and backward, then Instead, adjust the left and right traverse, and start to judge the number of the point to be reached. (7) If the number of the front and rear tumbling points is changed, if the input adjustment mode is tumbling back and forth, then the number of the position to be reached is determined; the adjustment of the input If the mode is vertical height and left and right traverse, it will be adjusted to roll forward and backward, and start to judge the number of the point to be reached. (8) After judging the number of the position point to be reached, from the position table already written in the program Find the extension corresponding to each variable length link of the number (position point) and output it to the corresponding variable length link. ^ It is worth noting that the flow of the above control program is only an example of the present invention. The details of the control scheme and the control flow thereof may be in accordance with the design requirements, and the second embodiment is not limited. It is also known from the above that the seat mechanism of the present invention has And with TM as the interface, can be =, ΐ 实 实 (10) on the sensing device and wireless transmission device, too system integration in the seat mechanism 〇〇 〇〇 毛 毛 不 不 不 不 不 不 不 不 不 不 不 不 不 不 不 不 不The joints of the two ends of the line brakes 2141~144 need to have a turn of the eve too a, and can be connected to the 4-way joint of the linear brake 141 with the y-direction direction according to the design requirement. For example, the end is connected by a ball joint. To the movable plate 12〇's another - to the end of the elm 110. The present invention does not limit the linear brake! 7/22 201244707 (4) used at both ends of the joint form adjustable length of the link replaced, the present invention and ^ (4) can As long as the length can be adjusted. No. The form and structure of the connecting rod are as described above. The four-axis cymbal of the present invention can have left and right traverse, height adjustment, and front chair degree adjustment function. The use of electric power == Although the preferred embodiment of the present invention has been disclosed above, the present invention: soil_column, any one of ordinary skill in the art, is described in the following: When you can make some changes and adjustments As defined by the scope of patent protection scope of the invention should be attached to the latter shall prevail. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view of a Stadford platform seat mechanism of a smart robotic wheelchair according to an embodiment of the present invention. FIG. 2 is a schematic view of the stopper 丨16 according to the present embodiment. Figure 3A and Figure 3 show the structure of the McLaren wheel. FIG. 4 is a schematic diagram showing the arrangement of the McLaren wheel set. FIG. 5 is a partial coordinate view of a feasible space range of a seat cushion according to an embodiment of the present invention. FIG. 6 is a schematic view showing a feasible space range of a seat cushion according to an embodiment of the present invention. FIG. 7 is a schematic diagram of the user interface (control panel) of the embodiment. [Description of main component symbols] 100: Seat mechanism Η0: Fixing frame 112: Base 18/22 201244707 114: Side stand 116, Π8: Limiting members 11a, lib, 11c, lid: Contacts 12a, 12b, 12c, 12d: contact 116a: bearing slope 120: movable plate 141 to 144: linear brake 141a: body 141b: axial rod 151 to 154: ball joint 161 to 164: universal joint 171 to 174: wheel 3 00 . Lun wheel 311, 411, 42 431, 441: free roller 400: seat mechanism 41 〇 440 440: McLaren wheel 610, 620: moving path 611, 612: reference coordinate 19/22