履带变构式轮履复合爬楼轮椅设计  

Design of Wheel-tracked Stair Wheelchair with Variable-structured Track

作　　者：曹冲振[1] 周娜[2] 王凤芹[2] 陈京邦[2] 姜鹏[1] 李韶韵 

机构地区：[1]山东科技大学交通学院,山东青岛266590 [2]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《山东科技大学学报（自然科学版）》2016年第1期91-96,共6页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：国家自然科学基金项目(50975164)

摘　　要：针对爬楼轮椅楼道通过性和平地行走时无需拆分爬楼机构的要求,对爬楼轮椅转向技术和履带驱动技术进行研究,提出一种基于大轮摆动的履带变构式轮履复合爬楼轮椅方案。对爬楼轮椅的大轮摆动机构、履带爬楼机构和履带折叠机构分别进行结构设计,根据功能要求分别对其上楼过程、下楼过程进行分析,论证了方案的可行性,最后通过样机试验,验证了履带变构式轮履复合爬楼轮椅能够在乘坐者自主操作下平稳有效地实现各项功能。Based on stair-climbing mechanism requirements of stair wheelchairs for staircase accessibility and no disassembling on level ground,a study on stair wheelchair steering technology and crawler driving technology was carried out.A design scheme of a wheel-tracked stair wheelchair with variable-structured track was presented,which was based on the swing of big wheels.The feasibility of the scheme was determined based on the respective structural design for big wheel tilting mechanism,crawlerclimbing mechanism and crawler folding mechanism and the analysis of climbing and descending processes of the stair wheelchair according to its functional requirements.Prototype tests verified that the stair wheelchair could meet all functional requirements under the autonomous operation of its rider.

关 键 词：轮履复合 履带变构 自主操作 爬楼轮椅 样机试验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH789[自动化与计算机技术—控制科学与工程]