一种新型复合式可爬梯轮椅结构设计与分析

Structure Design and Analysis of a New Kind of Composite Climbing-ladder Wheelchair

为了解决老年人和残疾者上下楼梯困难,设计了一种新型的行星轮-履带复合式可爬梯轮椅结构。采用行星轮-履带复合机构实现爬梯越障的功能,轮椅驱动采用1个电机,星轮采用链传动实现爬梯、平地行驶。该结构结合履带装置,可有效减轻星轮式轮椅振动且提高了传统轮椅的越障能力。在对比现有爬梯轮椅机构特点的基础上,介绍一种星轮-履带结合的新型轮椅机器人的机构方案,并分析轮椅的工作原理,建立数学模型进行爬梯过程运动学与动力学分析。结果表明,轮椅可以安全爬越大部分楼梯。轮椅的结构设计合理,实现爬梯和平地移动功能的结合。

In order to solve the difficulty in climbing stairs for the elderly and disabled,a new type of combined climbing wheelchair with planet wheel track is proposed.The combined structure with planet wheel track is used to achieve the function of stair-climbing and obstacle-surmounting.The wheelchair is driven by a motor,the planet wheel adopts chain drive to climb stairs and drive on the flat ground.Combined with the track device,this structure effectively reduces the vibration of the wheelchair with planet chair and improves the obstacle-surmounting ability of traditional wheelchair.On the basis of comparing the structural characteristics of the existing climbing wheelchair,the scheme of designing a new type wheelchair robot with a combination of with the planet wheel and track is introduced,and its operating principle is analyzed,a mathematical model is established to make a kinematics and dynamics analysis on the stair-climbing process.The results show that,the wheelchairs can safely climb most stairs.The structure design of the wheelchair is reasonable,the combination of climbing stairs and moving on the flat ground is realized.