【作者】 马永为；

【导师】 赵臣； 赵海东；

【作者基本信息】 天津大学 ， 机械工程， 2009， 硕士

【摘要】 本文的目标是通过研究设计出一种上下楼梯机构,为最终设计出一款价格适中、性能先进的助老助残机器人轮椅奠定基础。文中首先分析了国内外各种爬楼梯机构,在对比总结各自优缺点的基础上,根据国内实际情况,提出了一种人工辅助上下楼梯机构。该机构采用行星轮系机构。在平地上行走时,由主电机驱动,4个车轮均着地,具有四轮驱动特点。通过控制两侧车轮的转速可以实现转弯。爬楼梯时,由另一对电机驱动行星摇臂转动,两对驱动轮交替着地,从而实现上下楼梯。整个轮椅外形尺寸相当于普通的轮椅,省去了复杂的重心平衡系统,成本大为降低。上楼梯时需要陪同人员适当用力,通过调整轮椅重心位置来减少电机用力。整个轮椅结构比较简单、实用性强,为进一步改进提高打下了良好基础。更多还原

【Abstract】 This paper is working on a research of one mechanism which has ability of stairs climbing. And this mechanism will help on the research of robot wheel-chair which will have acceptable price and various function for all the wheel-chair users. After analyzed several of stairs climbing mechanisms and compared each advantage and disadvantage, this paper is introducing a paramedic required stairs climbing mechanism.The Planetary Gear system is applying on this mechanism. Driven by electric motors, the wheel-chair can roll on the road. Four wheels contact with the road, So it is a 4-wheel drive wheel-chair. It can turn freely through controlling the speed and each side. When climbing the chairs, the arm of the Planetary Gear is driven by another pair of motor, the two wheels on each side will support the wheel-chair alternately to move the wheel-chair to up or down stair.The outline dimension of this stair-climbing wheelchair will be close with the common wheelchairs. Without IBOT’s complicated top gravity balance system, the cost is decreased a lot. It doesn’t need one paramedic much strength; just adjust the position of the gravity center to decrease the output of the motors.This wheel-chair has simple configuration, and good practicability. It made a quite good foundation for further research and improvement.更多还原