TWI274239B - Modularized electric auxiliary pushing/pulling apparatus - Google Patents

Abstract

The present invention relates to a modularized electric auxiliary pushing/pulling apparatus, which may be installed on a movable device controlled by manual touch operation; when a user exerts a force upon the movable device, the present invention may provide an auxiliary force along the exertion force so as to make the operation of the movable device more easily; the present invention provides a force estimation unit capable of simulating the motion of a real object; by incorporating the force estimation unit and the dynamic variables (such as dynamic displacement or velocity) associated with a sensor of the movable device, the force exerted upon the movable device may be estimated, thereby effectively estimating the auxiliary force needed in response to the external force; thus, when a user is operating the movable device, he/she may do it more intuitively with less labor; in addition, since the present invention is completely modularized, it can be applied to various manually movable device, providing an electric auxiliary device which is easy to install and cost effective.

Description

1274239 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a modular electric device, a 4 ft. assist thrust/tension device, an easy installation, a simple structure, and a dream Shigang is known to have electric auxiliary "" electric auxiliary power with lower production cost. w. Shiyi electric auxiliary thrust is modularized, so it can be adapted to::, the mobile device of this sport (ie The number of mobile devices is manually applied and easy. Knowledge is more intuitive [Prior Art] At present, the use of related instruments or male helmets for humans-&ampering's methods of applying force can be two types: manual, electric or electric Help three categories, 'find the boundary between manual and electric'. The electric assist:: the position is the power electric assist force for the user; = the device can provide the electric device, then the following three different The angle is compared. In terms of control, that is, electric assist. Touch, control the movement direction of the mobile device 1 = by the rocker, switch or knob control device that is connected with the user's body: and position, phase Compared to the electric mode Intuitive and instant. The control of the electric assist device is based on the type of motor selected, and the electric power is small to provide appropriate auxiliary force. Therefore, the j-load will be fully loaded with the user's force, that is, optional. The motor of the assisting device does not need to have a public function of the device, and the motor with a small car is compared with the motor. In terms of the overall device structure, since the electric assist device uses a small motor, 3 1274239 is relatively grounded. The required battery size is also small, so that... The structural support of the mobile device can be lighter and thinner: electricity: the structure of the mobile device of the device is simplified and the weight is reduced. The mussels and the electric power are known from the above description. The electric assist device is in choice. At present, the electric assist device is used for the other method of the manual and electric power of the film left. It adopts a power sensor that is usually used for the size of the main size of the W-Bai, and will be flattened by the gentleman* It is installed in the mobile device, the main #, w力® sensor (such as the wheelchair's input or the bicycle pedal), and the force detection relative to the movement can be outputted when the force is moved. Circuit can be taken The power detection (1) is used as the basis for the torque or the rotation speed of the other phase, and the 虎^^ tiger is used as the control electric motor power. However, the use of this power brick knows that the electric auxiliary is also installed on the wiring. Trouble. Cost of itself, outside the mussels, for the wheelchairs with electric assisted functions, the 4Φ s ^ ± ® 4-α wheel can be used as the side of the wheel. On the rim of the wheel. If the Ray βα μ force sensor must be installed underneath, connect the force on the wheel to the wheel and set the circuit to the wheel prayer, so that, as in the twelfth The line will be wrapped around the wheel axis with a wheelchair with electric help function (the picture is not '--------------------------------------------------------------------------- 7 〇) w Solve the problem of integrating the power sensor (7 electric motor (7 1 ) into the second device'). ° 'The structural design on the two laps will definitely improve the number of women who ask for help in the wheelchair, but when the electric wheelchair is driven by 4 1274239 = the rear handle, it will be limited by the force. The amount of force applied to the handlebar cannot provide electric power. There is still considerable room for improvement in the current electric assist device. SUMMARY OF THE INVENTION To this end, the main object of the present invention is a low-cost and easy-to-install model: inter-frame early, #Λ, ^ dynamic auxiliary thrust/tension device, "applying to known or known equivalent linear inertia and rotation The moving device, regardless of the yoke point of the user pushing and moving the soil, can provide the appropriate electric assist force to the mobile device. When the device detects that it is placed on the rotating shaft of the electric motor, the 兮φ, the present & + 夕 表 置 置 力 Μ Μ 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助The stress estimation of this state is estimated by a single force; : When the motion state of the output of the second-segment motion detector is ~, the total force of the externally applied inertia of the known linear inertia actuator is further It is estimated that the nose is out of the appropriate electric assisting force. It is known that =: the force applied to the detector and the electric motor are integrated and the movement of the module needs to change the structure of the original mobile device. "Invented and helped to install Jintianda I easy women's clothing Compared with the current electric book, the expensive power sensor is used, so it is cheaper to implement in the whole process, and the use is not limited to 1274239. The user has to move the electric assist. And a unit; wherein the motion device after the motion detector is assisted by the mobile device. The force application position of the moving device can provide a force to the mobile device according to the magnitude of the force applied. The method provides a low-cost, modular electric auxiliary device, which is mainly installed on the rotating shaft of the electric motor to detect a force estimation of the moving state of the physical moving device. The estimated unit is connected to the motion detector. Since the straw is rotated by the electric motor, it can be detected that the mobile device is under stress, and the child can estimate the party strength estimated by the detection signal, and then For the control of the electric motor, a corresponding force is referred to the first figure: said: after the implementation of the preferred embodiment of the present invention, first of all, please include:;!:: mode; month one, military identification technology early兀(1〇), an electric assist motor (2 π' and - motion "i" (30); wherein the main moving element is placed on the mobile device (not shown) 2 = the moving component is pushed on the afternoon For the 0) ^ ^ ^ ^ or the auxiliary force of the pulling force, and the motion detector (3) on the rotating shaft of the electric assist motor (20) (3 due to the force action, the body 4 曰 k Keping 丄 hunting by the mobile The component detector can detect the two = up. (201 rotation action, the movement (10) is using dynamic sorrow. The main control unit j- is used to implement the above-mentioned force estimation single 1 force estimation unit (21), 俜一有. (2 1 1 ), -补俨" 3有-运动板拟单元(213) (214^ 1 2 ) and at least two sets of adder/subtracter), wherein the motion simulation unit (2l 6 1274239 simulates a mobile device with a known equivalent linear tf amount and a rotational inertia), and the compensator, (2 1 2 The input end is connected to the output of the motion detector (3 〇) and the motion simulation unit j 2 1 1 through an adder/subtracter (2 1 4) to obtain the actual force of the mobile device. First, Ai Lili (4) (including the displacement or velocity value) and the motion simulation unit (2 1 1 ) simulate the applied force to estimate the dynamic change (the difference between the phantom and the estimated error value), when the error value exists, The compensator (2丄2) will give this error value a good value, including ^ > 卞 to complement, through another add/subtractor (work

3) an estimated negative cut #X shelling torque (D output to the motion simulation unit 1 1 ) input; a nonlinear compensator f 9 9 , ^ , 2 2), is connected to the force estimate The motion simulation unit of the measuring unit (10) (21 nonlinear resistance (such as the standard force) at the output end of the month i) to exclude the simulation unit phase 1 * force) and other influences to estimate the accuracy 舆 motion, premature phase Different items, such as the twelfth figure θ 偿 Γ Γ 9 9 , 么 i ', 疋乂 ' 5 Hai non-linear fill mouth ( 2 2 ) will be according to the motion model angular displacement "), angular velocity "乂u" The output is estimated to compensate, so that the estimation of the compensation: acceleration (ά) and other parameters, the compensation torque (D is more accurate; and a gain adjustment unit (23) Gan ^ estimation unit (^, , eight input The end system is connected to the urging load torque (f) gP # - 2), and the estimated negative (10) J is estimated to be the nose and is adjusted, that is, the specific percentage of the ##^义The value of m is the value of the boosting torque (D, the Mingqi must be used as the motion simulation unit (2 i η officially disgrace the party to help the motor force) ^ Then through the -plus / subtractor (, knife value () human nonlinear compensator (2 2) 1274239: output connection" to make the assist torque value (D and the estimated compensation torque (4 sand) combined Obtain a motor zone, the motor torque (匕_) that should be provided by the aggressor (2 〇), and the total torque (w and the torque applied by the user (r_)) For the sum of the above, please refer to the fourth and fifth figures. The modular electric-assisted thrust/tension device for the previous preferred example is applied in rotary =: manual Η ( 4 0 ) ( 4 〇a), wherein the motion detector 糸 takes a position encoder as an example to illustrate the electric processing process of the present invention. Since the motion simulation unit (211) has a built-in actual motion mode of a particular door (4 〇 3 ), The assist motor (20) is placed on the moving element of the door ((4) (40a). In the case of a revolving door (: 〇), 'when the user pushes or moves the door (40) (4〇a the electric motor (20) The rotation axis will be relatively turbulent due to the magnitude of the force applied. At this time, the motion detector (3〇)t senses the culture of angular displacement. And detecting that the angular displacement ❼ signal is input to the main control unit (10 ′′, at this time, the urging force estimating unit (21) of the main control unit (10) estimates the load torque (D and the assist torque ( Γ) It is estimated that the electric motor (20) provides the revolving door (40: auxiliary force. , . . . and the rear view of the revolving door is shown in the sixth and third figures. The mode spoon of the unit (2 i丄) contains: '匕, a t-effect wide-counting unit (2 1 1 3 contains the - rotating motion 丨 模拟 模拟 analog / detail listening + heart ... wall X / _ or a line Sexual invasive inertia 1274239 Simulated degree value 2M〇r〇R + Rge(]r rafi〇X MD〇〇r X r2, to sell Shanyi I ^ out of an estimated angle plus confusion); Inertia plus angular velocity calculation unit (2 lib velocity value for one integral calculation) to calculate the one and anti-angle velocity value (ώ); one angle operation calculation unit (211) ^ ^ ' is the angular velocity of the angular velocity meter Perform an integral calculation, ^. τ 开 汁 一个 一个 一个 一个 请 请 请 请 请 请 请 请 请 请 请 请 第七 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Main control unit (1 ^ Β

Ua), two sets of electric motor (2〇) ( 〇 0 a ) and two sets of motion detectors (3 〇 ) ( 3 〇 a ). Please refer to the eighth figure. - The king's & early system (1 U a ) is compared with the main control of the first preferred embodiment; the difference between 1 ^, χ & early (1 〇) is: the main control unit (10a) Further, the white person y has a load separation unit (2 4) and a decision unit (25); wherein: the input end of the load force separation unit f 9 k 2 4 ) is connected to the force estimation unit (2 1 The compensation is crying "9" 〇, the output of the South 1 Bayokou (2 1 2) to obtain an estimated load torque (f. 丄a △ coffee Z)), due to the load torque (# lion) At least the environmental load torque rf, E l D and the user load torque (4) are included. Therefore, the load force separation unit ^2 (2 4) separates the predicted load torque ().环培自# μ ^ / a $ brother load torque value () and a user load torque value (t) •, and the decision unit (2 5) directory 1, hit & 3) is connected to the The output of the load power separation unit (2 1274239 4 ) is used to obtain the ambient load torque value (D, as the moment value (4) and the user's negative use, such as the ninth figure eight The auxiliary torque U has a gain adjustment unit (two, the unit (25" mainly includes the gain adjustment unit (... and) -:; the subtractor ^ unit (24) of the wheel "1) is connected to the load force separation The specific percentage example (<1)/load torque value (heart) is 2), since it is output to the adder/subtractor (25 (24) switcher (2 5 2 ) and the force separation unit ^ 2 4) Connect to obtain the environmental negative two torque values (f) (f, gentry value (L), and then subtract (~) subtraction to calculate the auxiliary force required for the mobile device, "M£>). ^ The second preferred embodiment can be applied to the wheelchair P, as shown in the tenth figure, and the force direction and related parameters after the force is as shown in the eleventh U. (21) The middle motion simulation sheet is scrolled. The second calculation method is more complicated than the first preferred embodiment. The main program is: one...balance...: kj describes the left and right rounds of force applied to the user's output and the grip of the frame. The state of motion of the force and motor torque. The wide equation of the wheelchair can be described as: KJ, while the force balance is also described as: Mp; ’ ‘the above equation, the weight

The simulation unit contains the following operational equations, as shown in the ninth diagram B: 10 1274239

TmR+2FRr] + 2/V. |

Where: «: Tire angular acceleration ά : Estimated tire angular acceleration % : Wheelchair (mobile device) angular acceleration 0: Tire displacement angle θα : Estimated tire displacement angle must: tire angular velocity ώ · Estimate tire angular velocity · · Tire acceleration 戽: Wheelchair (mobile device) acceleration f: Load on the tire: Static friction &: Internal force between the left wheel and the iron ring ^: Internal force between the right wheel and the iron ring Eight: Temporary inertia of the wheelchair (mobile device) 4: Temporary inertia of tire Μρ: inertia r: tire radius A: distance between wheelchair center and tire: assist torque: compensation torque 11 1274239 U • wheel torque of left motor L: wheel torque of right motor TMOTOR ' motor torque

l WAD: load torque

1 LOAD ; Estimating the load torque on the tire. The decision-making unit is the same as the decision-making unit (2 y is the same as the first-best example, and is read to the motion simulation unit (the estimated auxiliary torque of the thrust) (L) Before the meeting, 1) and the real wheelchair in 1), so that the motion simulation unit (21 moves. After that, then compare = interference) will form the relevant motion parameters and electricity of the synchronous operation: premature 兀 (21 " The mobile device that is estimated to be returned is shipped (4) and then the difference k is calculated from the external & force value), and the user applies the force to the wheelchair to calculate the electric assist, including π t I The external port ρ load torque, ^ - up to the auxiliary torque that should be provided. Because _ f at one time, in addition to the use of the field, the use of the field in the wheel of the ke, "into the user's force, but also to join the different The frictional resistance Λ ^ L u仃, 2% of the territory and this part of the 仓 曰 , , , , , , , , , , , , , , 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 々x J displacement, the characteristics of the dryness of the temple are judged. The pseudo-unit should simulate each movement as the movement model P The relative movement of the wheelchair for the force of the sacrifice, while the household friction is a kind of non-linear movement and the sorrow of the singer, as the chair shown in the thirteenth figure, will affect the movement and excavation. The assist wheel has an early simulation accuracy, so a nonlinear compensator compensates for it, while the class γ y Du, the moment, then the 4 m is better estimated compensating power

In summary, the two preferred embodiments show that the present invention directly applies the external force to the displacement of the manually moved 12 I274239, and then provides an auxiliary force for the user or push. Or the electric power-assisted device is completely modularized, which can be used in the mobile upper-phase 'market' of the mobile device of the present invention and does not need to use an expensive power sensor, so the cost is water= Products with electric help function are low and easy to implement. Therefore, the application of the mobile device in the wheelchair means that the sensor acts as a user to obtain the magnitude of the force applied by the user, and has a low force and knows the force: the amount of motion change of the mobile device determines the position of the external force. When applied to a wheelchair, it will not be restricted to push the wheelchair to get the shackle. The user can boost any position of the wheelchair, which is more convenient than the use of the existing electric wheelchair. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a first preferred embodiment of the present invention. A detailed block diagram of a preferred embodiment of the present invention. It is shown in the second figure of the present invention. Q f motion simulation of the detailed detailed block of the fourth figure: is a schematic diagram of the first gold soil a mobile device of the present invention. The fifth embodiment of the present invention is applied to the fifth figure of the rotary door: it is a schematic diagram of the first pinger of the present invention. <...example applied to the translational door.···Description of the state diagram of the fourth figure of the force movement. The seventh figure is a block diagram of a second preferred example of the present invention. \图·仪太恭明 The second best example of the 奋 乂 贝 贝 贝 贝 贝 贝 贝 贝 贝 贝 贝. 13 1274239 Medium table unit and motion model. . Figures 9A and B are detailed block diagrams of the first unit of the present invention. Figure 10 is a schematic view of the present invention. Younger ~ preferred embodiment applied to the movement of a wheelchair Figure 11A, B: 筏 and

Chu Fengyi, and insert the ninth map of the Force Games Λ AA Figure 12: The state diagram of the movement (four). . Should be "torque and angular fantasity: thirteen maps - system - electric wheelchairs. Figure: Fourteen: is the side view of the thirteenth figure. [Main component symbol description] 0) (1 〇a Main control unit (20) (2〇a) electric motor (2 1 ) force estimation unit (211) (2li,) n 丄) motion simulation unit a) equivalent inertia operation unit (21 lb) angular velocity calculation Unit (211c) angle calculation unit (2 1 2) compensator (:1 3 ) ( 2 1 4 ) add/subtractor, (2 2 ) nonlinear compensator subtractor. 3) gain adjustment unit (231) plus 4) Load force separation unit (25) Decision unit (2 51) Gain adjustment unit Adder/subtractor 14 1274239 (2 5 2 ) Add/subtracter (3 0 ) ( 3 0 a ) Motion detector ( 4 0 ) ( 4 0 a ) Door (5 0 ) Wheelchair (5 1 ) Tire (70) Wheelchair body (71) Wheel (72) Electric motor (73) Power sensor

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Claims (1)

1274239 X. Patent application scope: 1 · A modular electric auxiliary thrust/tension device, comprising a motion detector disposed on the shaft of the electric motor, and a receiver for simulating the motion state of the physical mobile device a force estimating unit; wherein the force estimating unit is connected to the motion detecting device, wherein the motion detecting device rotates by the electric assist motor to detect the moving state of the mobile device after the force is applied, so that the force estimating unit is based on The detection signal estimates the external force received by the mobile device, and further determines the assisting force of the electric assist motor corresponding to the force. B 2 · The modularized electric auxiliary thrust/tension device according to claim 1 of the patent scope, the force estimation unit is implemented by a main control unit, the main control unit comprises: a force application unit The system includes a motion simulation unit, a compensator, and at least two sets of adders/subtractors, wherein the motion simulation unit simulates the actual motion of the mobile device with known equivalent linear inertia and rotational inertia, and the input of the compensator Then, it is connected to the output of the motion detector and the motion simulation unit through an adder/subtractor to obtain the dynamic change amount of the mobile device after the actual force is applied and the dynamic change amount of the force estimated by the motion simulation unit. The difference, when the error value exists, indicates that the mobile device is subjected to an external force, the compensator compensates the error value to estimate the load torque, and synthesizes the estimated load torque and the assist torque through another add/subtractor. The total torque is output to the input of the motion simulation unit to simulate the total torque received by the mobile device; a nonlinear compensator is connected to the application Estimating the output of the motion simulation unit of the unit, and eliminating the non-linear 16 1274239 and other motion simulation units in the mobile device in a closed loop manner to increase the estimation accuracy; and a gain adjustment unit, t, The output of the compensator is connected to the estimated force unit as a force-assisted torque, and the auxiliary torque is the estimated displacement of the Hummer 3 motion simulation, and the knot is # ^ Based on the magnitude of the force applied by the party user, the auxiliary torque is connected to the output of the rim, the 4 pull/subtractive French and the nonlinear compensation to obtain a moment. Motor-assisted motor should provide motor rotation 3 · If applying for patent||Garden 筮r. The modularized electric auxiliary thrust/pull device described by the staff, this motion simulation single-action auxiliary push-pull even prison early 70 simulation mode Included with ··# Effective inertia calculation unit, system I =1 + RB Force 运动 Motion Inertia Simulation I 1^7_ or - Linear Motion Inertia Simulation ' - Qingyi 2 to calculate an estimated angular acceleration 4" early 70, the acceleration value of the equivalent inertia is calculated - the integral calculation is performed to calculate the estimated angular velocity value; & D, the -angle operation unit is calculated by calculating the angular velocity for the angular velocity, and calculating - According to the patent application scope 2nd force/tension device, the main control unit is a microprocessor and the electric auxiliary auxiliary system is a microprocessor. The electric auxiliary thrust/pull force is provided with at least one set of electric assist motor, each of the movable detectors, and a 17 1274239 force estimation sheet for simulating the movement state of the solid moving and cutting device. s ; wherein the force estimation unit is associated with the operation The motion detector is connected by the electric motor to detect the motion state of the mobile device after the force is applied, so that the force estimation unit estimates the force of the mobile device by using the detection signal, and further Control the electric motor-assisted force corresponding to the force.: If the modularized electric-assisted push/pull farmer is described in item 5 of the patent application scope, the force is estimated to be _. It is implemented by a main control unit. The main control unit contains ···, crying and to: force estimation. The system contains a motion simulation unit, a compensation mouth, and a set of addition/subtraction crying. Etc. #飧w: _ " /, the motion simulation unit is simulated. The input of the linear f-volume and the rotary inertia compensator is the continuous motion of the mobile device, and the motion simulation unit In the Zhonglikou 'subtractor connected to the motion detector V丨6 to do the output of the flat... The dynamic change and the movement: the difference between the actual force and the amount of the Ge device...: The proposed force estimation dynamics After being compensated, it’s over, another! The compensator sends the error value to the motion simulation unit of the motion simulation unit. The estimated load torque is outputted as a non-linear complement to the output of the crying unit, and the clamp is connected to the force estimation unit. Mobility; u exclude the image due to nonlinear resistance and the estimated load force of the male cabin οσ a stay - away from the early 兀, its input is the pile 兮 pile 5 兮 A early compensator wheel and you transport to the force Estimate 6杳 knot to obtain a prediction #恭丝Λ Negative cutting torque system contains at least environmental load torque = load torque, due to 5 Hai negative cutting force separation single, 负 user negative cutting torque, early 兀The predicted load torque is separated by an environmental load 18 1274239 torque value and a user load torque value; and _ decision sheet 7L 'the input end is connected to the output end of the load power separation unit' to obtain an environmental load transfer The moment value and the user load torque value are used as the calculation auxiliary torque. 7 The modularized electric auxiliary thrust=tension device according to claim 6 of the patent scope, the decision unit mainly comprises a gain adjustment unit, wherein the gain adjustment unit is connected to the load force= Output 4 from the early enthalpy to amplify the user load torque value and output, (4) & "'Because the adder/subtracter is separated from the force unit 2 = '= Γ: Γ force separation unit' Range, speed sound r RA & hand force force target range, acceleration force. A /, range of the difference between the user's force and the environment resistance 6 Hai Yan simulation unit built-in operation equation is: ---- ------ J _- ΙΛ' +λ/,,2] +[士 ________ + 2 Rl Boost: The modular electric coordinator set in item 6 or 7 of 乂力申围, the motion simulation unit contains: ~---------——- ___l ____ + ~ [士A/〆2] [/", + from,] + [g 1 〇 · If the patent application range is the first thrust / pull force wear f, 兮 + member said modular electric ring set 忒The control unit is or is a microprocessor. 19