轮履式爬楼梯轮椅及轮履切换动力学分析

Wheel and Shoe Composite Stair Climbing Wheelchairs and Dynamic Analysis of Wheel Shoe Switching

针对目前轮履复合式爬梯轮椅存在轮胎易干涉履带、爬梯时轮椅与顶端平台易发生碰撞等问题,设计了一种以关节型摆臂履带底盘为爬楼梯机构、新型轮履切换方式的轮履式爬楼梯轮椅。建立其数学模型,分析得出质心坐标、攀爬楼梯质心垂向位移曲线以及在轮履切换4个阶段时,摆臂电动机和电动推杆的动力学变化曲线;采用RecurDyn软件对轮椅的上下楼梯模式和轮履切换模式进行仿真,结果表明,轮椅在上下楼梯过程中平稳、安全,轮履切换4个阶段动力学的理论值与仿真情况相符。研究为该类爬梯轮椅的机械结构设计以及电动推杆选型、摆臂电动机选型提供了理论依据。

In response to the current issues of wheel and shoe composite ladder wheelchairs,such as tire interference with the track,and collision between the wheelchair and the top platform during ladder climbing,a wheel shoe composite stair climbing wheelchair with a swing arm track chassis as the stair climbing mechanism and a new wheel shoe switching scheme is designed.Its mathematical model is established,the centroid coordinates,the vertical displacement curve of the center of mass for climbing stairs are analyzed,and the dynamic change curve of the swing arm motor and electric push rod during the four stages of wheel shoe switching are obtained.The up and down stairs mode and the wheel shoe switching mode of a wheelchair are simulated in RecurDyn software.The simulation results indicate that the wheelchair is smooth and safe during the process of ascending and descending stairs,and the theoretical values of the dynamics of the four stages of wheel shoe switching are consistent with the simulation situation.The research provides a theoretical basis for the mechanical structure design,electric push rod selection,and swing arm motor selection of this type of ladder wheelchairs.