一种新型全控式自平衡爬楼车的设计与研究

Design and Research of a Novel Fully-controlled Self-balance Stairs-climbing Vehicle

为了解决全控式爬楼车工作时振动和冲击较大的问题,论文提出了一种全控式自平衡爬楼车的设计。本设计在爬楼的行星轮中间增加旋转的充气轮,增加了爬楼车的爬升和缓冲能力,通过模型的受力分析,验证了该设计的可行性;根据单摆平衡原理增加了自平衡控制,通过等比缩放模型的理论计算,验证了该控制的有效性,爬楼车重心更加平稳,减少了振动。对本设计的实物进行了测试,证明了理论推导的准确性。

In order to solve the problem of fully controlled climbing stairs machine＇s shock and vibration while working, a self-balance fullycontrolled stairs-climbing vehicle is designed. The pneumatic wheel in the middle of the planetary wheels is added to machine for increasing the stair climbing and buffer capacity. The mechanical analysis on the model prove that the method is practicable. According to the principle of simple pendulum＇s balance, the self-balance control system is added to Machine. The theoretical analysis on the Geometric model show the control system is effective. The core of stairs-climbing Vehicle becomes more stable, and the vibration has been reduced. The prototype of the design has been tested, and the results show the theory is accuracy.