一种双联星形轮机构电动爬楼梯轮椅的设计  

Design of an electric climbing wheelchair with biconnectivity star wheels

作　　者：苏和平[1] 王人成[2] 

机构地区：[1]内蒙古民族大学物理与机电学院,内蒙古通辽市028042 [2]清华大学精密仪器与机械学系,北京市100084

出　　处：《中国临床康复》2005年第26期144-145,共2页Chinese Journal of Clinical Rehabilitation

基　　金：国家自然科学基金资助(50475017)~~

摘　　要：目的:目前已有多种方式的爬楼梯轮椅设想和样车,但因为操作复杂、体积大等,未能家庭实用化。借鉴IBOT3000的爬楼梯方式,设计一种体积小巧轻便,使用简单方便的电动爬楼梯轮椅,来推进爬楼梯轮椅的实用化。方法:采用双联星形轮机构爬楼梯,在平地上行走时,星形轮由一对电动轮毂驱动运动;爬楼梯时,由专用电动机,通过一个行星轮系驱动一对双联星形轮交替运动,完成攀爬楼梯动作。①计算爬楼梯需要的功率P为:P=M×ω=260W。②当楼梯高度为M(M=145mm),行星轮系外壳半径为R3,星形轮半径为R1,R2,(R1=R2),为使行星轮系外壳不与楼梯发生干涉,经计算R1=200mm,R3=127.5mm。③选择和设计了2K-H型行星轮系为轮椅爬楼梯的翻转机构。经计算,行星轮系的各个参数满足均布安装和邻接条件。结果:整个外形尺寸相当于普通的轮椅,没有IBOT3000复杂的陀螺重心平衡系统,制造成本明显降低。结论:设计的双联星形轮机构爬楼梯轮椅采用效率高体积小的行星轮系作为爬楼梯机构,以及选用电动自行车轮毂为行走提供动力,使得整个轮椅结构紧凑、重量轻,实用性强。AIM： At present there are many kinds of designs and styles of stairclimbing wheelchairs, and due to the complicated manipulation and big size etc, cannot be utility at home. Reference the method of IBOT3000 climbing stair designs an electric stair-climbing wheel in mini-size and convenience to drive the utility of stair-climbing wheelchairs. METHODS： Using biconnectivity star wheel structure to climb the stairs the star wheel was moved by a pair of electric hubs when walking on the ground; When climbing the stair, the wheelchair was moved by special motor through electric planetary gear alternative movement. ① Count the power of climbing stair： P=M×ω =260 W. ② When the height of stair was M （M=145 mm）, the planetary gears outside radius was R 3, and the star gear radius was R 1, R 2 （R 1=R 2）. In order not to interfere between star gear enclosure and stairs, through count R 1=200 mm, R 3=127.5 mm. ③ The 2 K-H planetary gear turnover mechanism of climbing stair wheelchair was selected and designed. After calculation, every kind of parame-ters of planetary gear was all accorded with the conditions of installation and connection. RESULTS： The whole overall dimensions were correspondent to the common wheelchairs without IBOT3000 complicated top gravity balance system and the cost of production significantly decreased. CONCLUSION： The designed biconnectivity stars structure stair-climbing wheelchair used the planetary gear with high efficiency and mini-size as stair-climbing structure, and electric bicycle hubs were selected to provide power for moving, which makes the whole wheelchair be compact struc-ure, light weight, and better utility.

关 键 词：轮椅 设备设计 动力学 爬楼梯轮椅 星形 设计 轮机 交替运动 平衡系统 轮系 体积 

分 类 号：R496[医药卫生—康复医学] R739.41[医药卫生—临床医学]