论文总字数：17006字

摘 要

我国老年人数和下肢残障人士的人数每年都在增长，传统的电动轮椅只能实现平地的行走，对于需要上楼梯的使用者来说，非常的不方便。为了方便这些人士，作者设计一款具有爬楼功能的行星轮式爬楼轮椅，其结构简单，安全性高。

首先，对轮椅进行结构设计，其后桥为攀爬楼梯机构，动力由一个步进电机提供，通过蜗轮蜗杆减速机构将扭矩传输出到两轴。步进电机启动时，花鼓离合器闭合，带动后桥转动，后三星轮组公转，通过链传动将动力传递到前桥带动前面的三星轮翻转，实现四个轮组同步翻转，即可实现爬楼功能。其前桥为平地行走机构，动力由两个减速电机提供，平地行走时，前三星轮组的橡胶轮全部自转，此时花鼓离合器分开，即可带动后桥橡胶轮自转，实现平地行走功能。进行总体机构的设计，使用对其进行建模，完成装配。

其次，通过查阅相关标准，进行计算分析，设计三星轮组的尺寸。再根据轮椅的结构和重量，对所需电机的功率进行计算，并进行相应的选型。

最后，将使用建好的模型，导入，对其进行仿真设置，模拟其爬楼的过程，对其攀爬轨迹及效率进行研究分析，验证其爬楼过程的稳定性和安全性。

关键词：爬楼轮椅；行星轮；动力学仿真

Abstract

The number of elderly people and the number of people with lower limb disabilities in our country are increasing every year. Traditional electric wheelchairs can only walk on flat ground, which is very inconvenient for users who need to go up stairs. In order to facilitate these people, the author designed a planet-wheeled climbing wheelchair with a climbing function, which has a simple structure and high safety.

First, the wheelchair is structurally designed. The rear axle is a stair climbing mechanism. The power is provided by a stepper motor, and the torque is transmitted to the two shafts through the worm gear reduction mechanism. When the stepper motor is started, the hub clutch is closed, driving the rear axle to rotate, and the rear Samsung wheel set revolutions, and the power is transmitted to the front axle through the chain drive to drive the front Samsung wheel to flip, and the four wheel sets can be flipped synchronously to achieve climbing. Features. The front axle is a flat-running mechanism, and the power is provided by two reduction motors. During flat driving, the rubber wheels of the front Samsung wheel set all rotate. At this time, the hub clutch is separated, which can drive the rear axle rubber wheels to rotate and realize the function of flat walking. Design the overall mechanism, use it to model, and complete the assembly.

Secondly, by referring to relevant standards and performing calculation and analysis, the size of the Samsung wheel set is designed. According to the structure and weight of the wheelchair, the power of the required motor is calculated, and the corresponding selection is made.

Finally, it will use the built model, import it, set it up for simulation, simulate its climbing process, research and analyze its climbing trajectory and efficiency, and verify the stability and safety of its climbing process.

Keywords: Wheelchair climbing stairs; Planetary wheels; Dynamic simulation

目录

摘要 I

Abstract II

第一章 绪论 5

1.1研究背景及意义 5

1.2国内外研究现状 5

1.2.1 行星轮式爬楼轮椅 6

1.2.2 步行式爬楼轮椅 7

1.2.3 轮履复合式爬楼梯轮椅 8

1.2.4 轮腿复合式爬楼梯轮椅 9

1.3 本文主要研究内容 10

第二章 爬楼轮椅的结构设计 11

2.1爬楼轮椅设计要点 11

2.2 攀爬楼梯机构设计 11

2.3 地面行走机构设计 14

2.4 轮椅整体模型的建立 16

第三章 轮椅参数计算 17

3.1 爬楼梯轮椅的基本设计参数 17

3.2 三星轮组的尺寸设计 17

3.3 电机功率计算 22

3.3.1 爬楼机构电机功率计算 22

3.3.2 爬楼机构电机的选型 25

第四章 爬梯轮椅的仿真研究 27

4.1 仿真研究内容 27

4.2 ADAMS 理论基础及仿真流程 27

4.3 动力学仿真模型的建立 28

4.3.1 建立仿真模型并定义其参数 28

4.3.2 仿真模型约束及接触的添加 29

4.4 仿真结果分析 30

第五章 总结与展望 32

5.1 总结 32

5.2 展望 32

参考文献 33

致谢 34

第一章 绪论

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