新型電動輪椅之手輪馬達動力輪的整合

Abstract

本論文研究目的為整合手輪馬達動力輪裝配到輪椅車架上，由於手輪馬達研發已達到成熟的階段，為了在現有市場開拓新的領域，特別將手輪馬達與週邊零件整合成動力輪，使用者只需裝配兩顆動力輪與方向遙控器在輪椅車架上，就可以自由切換手動以及電動模式，本論文所研究的新型電動輪椅在重量、速度及續航力上都有出色的表現。 為了可以使用手推手扶圈轉子來操作輪椅，本論文先對第三代手輪馬達進行降低頓轉力矩為主，主要方法為隔開手輪馬達之定子與轉子之間的氣隙，直接來降低馬達氣隙之間的能量與磁鐵吸引力。 由於手輪馬達的改良，在第四代手輪馬達動力輪產品進行測詴時，因為頓轉力矩的降低，第四代手輪馬達可以直接使用手推來轉動手扶圈轉子，但也衍生出停車時無足夠的瞬間煞車制動力，本論文在第五代手輪馬達動力輪模組內增加電磁煞車來產生煞車制動力，並將電池、馬達驅動控制器一併放入動力輪模組內，同時也改良手輪馬達的塊狀定子，來增加馬達效率與輸出。 第五代手輪馬達動力輪具有最大輸出力矩28.55 N-m，最高轉速96 rpm，最大效率80 %，單顆動力輪重12 kg。本論文使用康揚KM-AT20運動輪椅進行組裝與加工，組裝後總重35 kg。

This thesis proposes to integrate and fabricate dual power wheel with rim motors for, a novel electric wheelchair. Based on the previously developed rim motor, a novel power wheel is integrated with battery, brake, and control as a compact assembly on the wheelchair. This power wheel can be directly installed on commercial wheelchair frame and may become a new health and care product on the market. Both manual and power driving modes can be switched by users, and the wheelchair with the novel power wheels is proved to be competitive because of its less weight, good driving speed, and longer driving range. First of all, in order to operate the wheelchair by pushing the rim rotor manually, the cogging torque of the rim motor must be reduced. This was accomplished by releasing mechanism, which separates the stator and rotor so that the normal magnetic force is reduced by increasing the air gap length. Improved by an advanced design, the cogging torque of the rim motor is so reduced that the manual operation becomes easy and smooth and the releasing mechanism is not necessary. In this research, a hybrid powder and electromagnetic brake is designed and manufactured. The poki-poki stators of rim motor are also made to reduce the weight and improve the efficiency of the rim motor. Finally, a compact power wheel is integrated with rim motor, battery, brake and motor drive. The experimental results show that the proposed power wheel features a maximum torque of 28.55 Nm, maximum rotational speed of 96 rpm, and maximum efficiency of 80%. The complete set of power wheel weighs 12 kg, and the total weight of the novel wheelchair weighs 35 kg after the power wheels are installed on a commercial wheelchair frame.