新型爬楼轮椅的设计与运动稳定性分析

Design and Kinematic Stability Analysis of NewClimbing Wheelchair

现有爬楼轮椅爬楼时因楼梯台阶尺寸不同而存在安全隐患且造价高,在凹凸不平路面行驶时舒适度不高。针对上述不足设计了一款新型爬楼轮椅。该新型爬楼轮椅的主体结构是由铝合金板材铰接而成,用具有刹车功能的减速电机给轮椅提供行走和爬楼的驱动力;以具有自锁功能的电推杆为执行元件,通过不同机构间的相互配合,共同实现爬楼、独立减震、座椅调平、起落架调距功能和座椅升降功能,不仅能适应各种楼梯台阶尺寸,安全可靠,同时提高了舒适度,方便出行。根据运动学原理运用SolidWorks中的Motion模块对机构进行运动仿真分析,验证了该轮椅在攀爬楼梯过程中有较好的安全稳定性,具有良好的应用前景。

The climbing wheelchair has potential safety hazards due to different step sizes during stair climbing,and has high cost and low comfort when driving on uneven roads.In this paper,a new type of climbing wheelchair is designed to solve the above problems.The main structure of the novel climbing wheelchair is formed by hinging aluminum alloy plates.A deceleration motor with braking function is used to provide driving force for the wheelchair to climb the stairs.The electric push rod with self-locking function is taken as the executing element,through the mutual cooperation between different mechanisms,the functions of climbing,independent shock absorption,seat leveling,landing gear distance adjustment and seat lifting are realized.Not only can it adapt to various step sizes,but also improve the comfort level,make travel convenient,safe and reliable.According to the kinematics principle,the Motion simulation analysis of the mechanism is carried out by using the Motion module of SolidWorks,which verifies that the climbing wheelchair has good safety and stability in the process of climbing stairs and has a good application prospect.