轮履复合式爬楼轮椅的设计与运动仿真分析

Design and motion simulation of wheel-track mechanism stairs climbing wheelchair

针对目前爬楼轮椅普遍存在着结构复杂、只能在爬楼过程中使用、爬楼过程需要辅助等不便利的因素,设计了一种多功能电动爬楼轮椅.此款轮椅主要由平地行驶机构、上下楼梯攀爬机构、轮-履模式切换机构、前后支撑机构和座椅姿态调节机构组成.针对爬楼轮椅进行了整体机械结构的方案设计并建立了机构的仿真模型.通过对上楼/下楼运动阶段的力学分析,建立了爬楼轮椅的力学模型.采用ADAMS对爬楼轮椅的关键机构进行动力学仿真分析,仿真结果验证了爬楼轮椅轮履切换机构的合理性和可行性.所设计的电动爬楼轮椅能够根据路况环境随时切换平地/爬楼工作模式,通过座椅的调节机构实时调整座椅的姿态,最大限度提高乘坐者的安全舒适性,真正满足了老年人及残障人士独立出行的需求.

The traditional stairs climbing wheelchair has the problems of complex structure,single function and always need others to assist.A multifunctional electric stairs climbing wheelchair was designed in this paper for the problem above.The stairs climbing was mainly composed of flat driving mechanism,stairs climbing mechanism,wheel-track switching mechanism,front and near support mechanism,and seat adjustment mechanism.The overall mechanical structure of stairs climbing wheelchair was designed,and simulation model was established.Through the mechanical analysis of the upstairs/downstairs movement,the mechanical model of the stairs climbing wheelchair was established.ADAMS was used to simulate the movement of the key mechanism,the simulation results verified the rationality and feasibility of the wheel-track switching mechanism.The electric stairs climbing wheelchair in this paper can switch the work mode between flat driving and stairs climbing anytime in different road conditions,and also can adjust the seat posture through the seat adjustment mechanism.The above functions of the wheelchair can improve the safety and comfort of users,and truly meet the independent travel needs of the elderly and disabled people.