新型轮—履复合式爬楼梯轮椅设计与实现

发布时间：2018-06-11 18:28

本文选题：爬楼梯轮椅 + 结构设计　；参考：《南京理工大学》2016年硕士论文

【摘要】：人口老龄化进程的加快以及残障人数的增长给经济和社会发展带来了巨大影响,各式各样助老、助残装置的研究因此也越来越多。作为世界第一人口大国的中国,对助行装置的需求更为迫切。但是现阶段普通助行装置一般只能在无障碍的平地上使用,不具备爬楼梯和越障等功能,国外具备爬楼梯功能的助行装置大多存在不足之处或者价格昂贵。为了提升对老年人和残障人士的关怀,更好地解决他们的出行问题,本文从功能需求和我国现阶段经济发展水平出发,设计并实现了一种平地和楼梯两用的新型爬楼梯轮椅。对爬楼梯轮椅进行了总体设计,主要包括爬楼梯轮椅的需求分析、设计要求、主要参数指标以及机械结构和控制系统设计方案。运用SolidWorks软件完成了爬楼梯轮椅的三维结构设计,基于ANSYS Workbench软件对爬楼梯轮椅关键零件进行了有限元分析,采用模块化设计思路建立了爬楼梯轮椅控制系统,对控制芯片、电机和传感器等进行了选型,编写了爬楼梯轮椅控制程序。对爬楼梯轮椅的轮式运动模式、轮-履切换模式和履带运动模式进行了介绍,详细分析了爬楼梯轮椅的轮-履切换和上下楼梯过程,针对爬楼梯轮椅上下楼梯过程的重要阶段进行了力学建模,将MATLAB软件的仿真结果与试验得到的切换电动推杆推力以及上下楼梯过程中履带电机的输出力矩进行了对比分析,运用稳定度的概念定量描述了爬楼梯轮椅在爬楼梯过程中的稳定性。基于爬楼梯轮椅样机进行了平地运动、轮-履切换以及以上下楼梯等试验,验证了爬楼梯轮椅设计的可行性和实际使用效果。
[Abstract]:The accelerated process of population aging and the growth of the number of people with disabilities have a great impact on economic and social development, so there are more and more researches on various kinds of assistive devices for the elderly. As the largest population country in the world, China has a more urgent need for mobility aids. However, at present, the common walking aids can only be used on the barrier-free flat ground, and they do not have the functions of climbing stairs and surmounting obstacles. Most of the walking aids with climbing stair functions in foreign countries have shortcomings or high prices. In order to improve the care for the elderly and the disabled and to solve their travel problems better, this paper designs and implements a new type of stair climbing wheelchair based on the functional requirements and the current level of economic development in our country. The overall design of stairway wheelchair is carried out, including the analysis of the requirements, the design requirements, the main parameters, the mechanical structure and the design of the control system. The 3D structure design of stairway wheelchair is completed by SolidWorks software. Based on ANSYS Workbench software, the key parts of stairway wheelchair are analyzed by finite element method, and the control system of stairway wheelchair is established by modular design. The motor and sensor were selected, and the control program of climbing stairway wheelchair was compiled. The wheeled movement mode, wheel-shoe switching mode and crawler movement mode of stairway wheelchair are introduced, and the process of wheel-shoe switch and up and down stairs of stairway wheelchair are analyzed in detail. According to the important stage of climbing stairway wheelchair up and down stairs, the mechanical modeling is carried out. The simulation results of MATLAB software are compared with the test results of switching electric push rod thrust and the output torque of the crawler motor in the process of climbing up and down stairs. The stability of staircase climbing wheelchair is quantitatively described by using the concept of stability. Based on the prototype of climbing stairway wheelchair, the experiments of flat ground movement, wheel-toggle and up and down stairs are carried out to verify the feasibility of the design and the practical application effect of the stairway wheelchair.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH789

【相似文献】