仿生轮腿式爬梯底盘结构设计分析与应用

Design Analysis and Application of Bionic Wheel Leg Ladder Chassis Structure

针对现有的以履带组合式、升降伸缩式、行星轮式、连杆式为底盘的爬梯装置在克服台阶等障碍物时统一存在的水平不稳定、动力消耗大和操作较难等问题,该文设计了一款可实现自调节底盘保持恒水平稳定的仿生轮腿式爬梯底盘结构。提出了以该结构为应用点的辅助老人上、下楼装置,完成了其机械结构方案设计、控制逻辑方案设计和核心零部件的运动学仿真分析及强度校核。基于FTdesigner技术搭建出物理样机模型并开展原理性、功能性和稳定性测试研究,试验与仿真数据表明,该装置完全自适应调节座椅水平度,具有功耗低、便捷度高、稳定性强等特点。

Aiming at the problems of unstable level,large power consumption and difficult operation of the existing ladder climbing devices with crawler combination,lifting telescopic,planetary wheel and connecting rod as the chassis when overcoming obstacles such as steps,this paper designs a bionic wheel leg climbing ladder chassis structure that can maintain constant level stability of the self-adjusting chassis.An auxiliary upper and lower upper and lower upper floor device for the elderly with this structure as the application point was proposed,and the kinematic simulation analysis and strength check of the mechanical structure scheme design,control logic scheme design and core components were completed.Based on FTdesigner technology,the physical prototype model was built and the principle,functionality and stability test research were carried out,and the test and simulation data showed that the device fully adaptively adjusted the seat level,with the characteristics of low power consumption,high convenience and strong stability.