新型爬梯轮椅结构设计及越障性能分析  

Structural Design and Obstacle Performance Analysis of the New Ladder Wheelchair

作　　者：朱花[1] 葛海文 ZHU Hua;GE Hai-wen(Jiangxi University of Science and Technology,School of Mechanical and Electrical Engineering,Jiangxi Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《机械设计与制造》2024年第11期351-357,共7页Machinery Design & Manufacture

基　　金：2019年度江西省教育厅科学技术研究项目——仿生爬梯轮椅的自动控制研究([2019]GJJ190426)。

摘　　要：针对目前轮履复合式爬梯轮椅存在轮胎易干涉履带、爬梯时轮椅与顶端平台发生碰撞等问题,设计了一种新型的爬梯轮椅。通过建立其数学模型,得出轮椅质心的坐标、计算出轮椅攀爬垂直障碍物的最高高度为170.4mm、跨越沟壑的最宽宽度达516.33mm;最后在RecurDyn的TrackLM环境下对轮椅在三种典型工况下进行仿真,仿真结果表明在考虑轮椅速度和履带与地面之间的作用力的情况下,轮椅晃动攀爬障碍物的最高高度220mm和晃动跨越沟壑最宽宽度580mm都大于计算值。通过该轮椅的相关研究,对这类爬梯轮椅的设计提供了相关理论依据。In view of the current problems of wheeled composite ladder wheelchairs such as tires easily interfering with the tracks,collisions between the wheelchair and the top platform when climbing the ladder,a new type of ladder-climbing wheelchair is designed.By establishing its mathematical model,the coordinates of the wheelchair′s center of mass were obtained,and the maximum height of the wheelchair climbing vertical obstacle was calculated to be 170.4mm,the maximum width of the ravine is516.33mm.Finally,the wheelchair is simulated under three typical working conditions in the TrackLM environment of RecurDyn,the simulation results show that the maximum height of the wheelchair shaking climbing obstacle of 220mm and the maximum width of the shaking spanning gully of 580mm are greater than the calculated values,taking into account the speed of the wheelchair and the force between the tracks and the ground.Through the relevant research of the wheelchair,the design of this type of ladder wheelchair provides a relevant theoretical basis.

关 键 词：轮履复合式爬梯轮椅 摆臂履带 质心 RECURDYN 

分 类 号：TH16[机械工程—机械制造及自动化]