一种新型复合式可爬梯轮椅结构设计与分析

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英文篇名：Structure Design and Analysis of a New Kind of Composite Climbing-ladder Wheelchair 作者：熊根 ; 张华 ; 周依霖 ; 尤帅 ; 尚志军 英文作者：Xiong Gen;Zhang Hua;Zhou Yilin;You Shuai;Shang Zhijun;Key Laboratory of Robot and Welding Automation of Jiangxi,Nanchang University; 关键词：行星轮 ; 爬梯轮椅 ; 运动学 英文关键词：Planet wheel;;Climbing wheelchair;;Kinematics 中文刊名：JXCD 英文刊名：Journal of Mechanical Transmission 机构：南昌大学江西省机器人与焊接自动化重点实验室; 出版日期：2019-02-15 出版单位：机械传动 年：2019 期：v.43;No.266 基金：江西省高等学校科技落地计划(KJLD13002);; 江西省优势科技创新团队建设计划(2017BCB24001) 语种：中文; 页：JXCD201902014 页数：5 CN：02 ISSN：41-1129/TH 分类号：80-84

摘要

为了解决老年人和残疾者上下楼梯困难,设计了一种新型的行星轮-履带复合式可爬梯轮椅结构。采用行星轮-履带复合机构实现爬梯越障的功能,轮椅驱动采用1个电机,星轮采用链传动实现爬梯、平地行驶。该结构结合履带装置,可有效减轻星轮式轮椅振动且提高了传统轮椅的越障能力。在对比现有爬梯轮椅机构特点的基础上,介绍一种星轮-履带结合的新型轮椅机器人的机构方案,并分析轮椅的工作原理,建立数学模型进行爬梯过程运动学与动力学分析。结果表明,轮椅可以安全爬越大部分楼梯。轮椅的结构设计合理,实现爬梯和平地移动功能的结合。
        In order to solve the difficulty in climbing stairs for the elderly and disabled,a new type of combined climbing wheelchair with planet wheel track is proposed. The combined structure with planet wheel track is used to achieve the function of stair-climbing and obstacle-surmounting. The wheelchair is driven by a motor,the planet wheel adopts chain drive to climb stairs and drive on the flat ground. Combined with the track device,this structure effectively reduces the vibration of the wheelchair with planet chair and improves the obstacle-surmounting ability of traditional wheelchair. On the basis of comparing the structural characteristics of the existing climbing wheelchair,the scheme of designing a new type wheelchair robot with a combination of with the planet wheel and track is introduced,and its operating principle is analyzed,a mathematical model is established to make a kinematics and dynamics analysis on the stair-climbing process. The results show that,the wheelchairs can safely climb most stairs. The structure design of the wheelchair is reasonable,the combination of climbing stairs and moving on the flat ground is realized.

引文

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