自助爬楼轮椅的稳定性分析  

Stability analysis of a self-driving climbing-stair wheelchair

作　　者：周玉兰[1] 吴永超[1] 马雍钧[1] 

机构地区：[1]烟台大学机电学院,山东烟台264005

出　　处：《中国康复医学杂志》2011年第12期1144-1148,共5页Chinese Journal of Rehabilitation Medicine

基　　金：山东省中青年优秀科学家奖励基金资助(BS200922016);广西先进制造技术开放实验室资助(0842006_038_K)

摘　　要：目的:分析本研究设计的自助爬楼轮椅的稳定性。方法:计算链条极限拉伸载荷,针对轮椅容易在楼梯上倾翻这一问题,从两个角度着重分析轮椅的稳定性:①分析履带的长度和宽度对轮椅在爬楼梯时重心位置变化的影响。②分析轮椅在楼梯上的受力。结果:链条的极限拉伸载荷为201.6kN。轮椅爬楼时重心位置可前后移动260mm。左右最大倾角可达32°。轮椅爬楼时沿楼梯方向最小总反力大于重力沿楼梯方向向下的分力。结论:自助爬楼轮椅设计时采用的32A型滚子链条能够满足链条的抗拉载荷要求,链条的结构稳定可靠。爬楼时重心位置可前后移动260mm,左右最大倾角可达32°,足够保证轮椅爬楼时不发生侧翻。轮椅在楼梯上受楼梯的总反力大于重力沿楼梯向下的分力,能够保证轮椅不下滑,自助爬楼轮椅结构设计安全可靠。Objective：To analyze the stability of a self-driving climbing-stair wheelchair designed in this study. Method： The ultimate tensile load of the chains was analyzed. For the problem of side-tumbling, the stability was analysed in two sides：①The position of center of gravity of the wheelchair affected by length and width of the supporting frame was analysed. ②The friction force between the track and stair when climbing stairs was analysed. Result：The ultimate tensile load of the chains was 201.6kN.The position of center of gravity of the wheelchair could move 260mm and the tilt angle was 32°. Conclusion：Roller chain 32A can meet the requirement of tensile load, the structure of chain is reliable. The position of center of gravity of the wheelchair and the maximum tilt angle are enough to ensure the wheelchair not side-tumbling. The total force given by stairs along stairs is larger than the force of gravity down along the stairs which can ensure the stair not sliding down the stairs. The structure design of climbing-stair wheelchair is safe and reliable.

关 键 词：爬楼梯 轮椅 链条 履带 稳定性 

分 类 号：TH789[机械工程—仪器科学与技术]