星轮式电动爬楼轮椅的结构设计与稳定性分析

Structural design and stability analysis of a star wheel power-driven stair-climbing wheelchair

为了解决老人以及下肢残疾患者爬楼困难的问题,设计了一种星轮式电动爬楼轮椅。首先,采用可升降三星轮翻转机构实现轮椅爬楼功能,机构的升降实现了轮椅平地驱动与爬楼的切换,轮椅通过座椅调平机构可增加爬楼时轮椅的稳定性;然后,对轮椅爬楼过程进行力学分析,验证了轮椅爬楼时不会出现打滑现象;最后,结合能量法对轮椅爬楼时的前后向稳定性进行分析。数值分析表明,轮椅具有充足驱动力用以爬楼,能够在爬楼时不发生倾翻,具有乘坐安全和爬楼稳定的优点。

A star wheel power-driven stair-climbing wheelchair is designed to solve the problem that the old and the person with lower limb disabilities have difficulty climbing stairs.Firstly,a liftable mechanism of rotating three-star wheels is used to realize the function of climbing stairs,the lifting mechanism realizes the exchange among functions of ground driving and climbing stairs,the seat leveling mechanism enhances stability of the wheelchair.Then the driven condition of climbing stairs is acquired by the mechanical analysis of the wheelchair during climbing stairs.Finally,the anteroposterior stability of the wheelchair as it climbs stairs is analyzed with the energy method.The numerical analysis shows that the wheelchair has sufficient driving force to climb stairs,and can climb without overturning,which embodies the advantages of safety and stability.