本文選題：爬樓梯輪椅 + 結(jié)構(gòu)設(shè)計(jì)　； 參考：《南京理工大學(xué)》2016年碩士論文

【摘要】：人口老齡化進(jìn)程的加快以及殘障人數(shù)的增長(zhǎng)給經(jīng)濟(jì)和社會(huì)發(fā)展帶來(lái)了巨大影響,各式各樣助老、助殘裝置的研究因此也越來(lái)越多。作為世界第一人口大國(guó)的中國(guó),對(duì)助行裝置的需求更為迫切。但是現(xiàn)階段普通助行裝置一般只能在無(wú)障礙的平地上使用,不具備爬樓梯和越障等功能,國(guó)外具備爬樓梯功能的助行裝置大多存在不足之處或者價(jià)格昂貴。為了提升對(duì)老年人和殘障人士的關(guān)懷,更好地解決他們的出行問(wèn)題,本文從功能需求和我國(guó)現(xiàn)階段經(jīng)濟(jì)發(fā)展水平出發(fā),設(shè)計(jì)并實(shí)現(xiàn)了一種平地和樓梯兩用的新型爬樓梯輪椅。對(duì)爬樓梯輪椅進(jìn)行了總體設(shè)計(jì),主要包括爬樓梯輪椅的需求分析、設(shè)計(jì)要求、主要參數(shù)指標(biāo)以及機(jī)械結(jié)構(gòu)和控制系統(tǒng)設(shè)計(jì)方案。運(yùn)用SolidWorks軟件完成了爬樓梯輪椅的三維結(jié)構(gòu)設(shè)計(jì),基于ANSYS Workbench軟件對(duì)爬樓梯輪椅關(guān)鍵零件進(jìn)行了有限元分析,采用模塊化設(shè)計(jì)思路建立了爬樓梯輪椅控制系統(tǒng),對(duì)控制芯片、電機(jī)和傳感器等進(jìn)行了選型,編寫了爬樓梯輪椅控制程序。對(duì)爬樓梯輪椅的輪式運(yùn)動(dòng)模式、輪-履切換模式和履帶運(yùn)動(dòng)模式進(jìn)行了介紹,詳細(xì)分析了爬樓梯輪椅的輪-履切換和上下樓梯過(guò)程,針對(duì)爬樓梯輪椅上下樓梯過(guò)程的重要階段進(jìn)行了力學(xué)建模,將MATLAB軟件的仿真結(jié)果與試驗(yàn)得到的切換電動(dòng)推桿推力以及上下樓梯過(guò)程中履帶電機(jī)的輸出力矩進(jìn)行了對(duì)比分析,運(yùn)用穩(wěn)定度的概念定量描述了爬樓梯輪椅在爬樓梯過(guò)程中的穩(wěn)定性�；谂罉翘葺喴螛訖C(jī)進(jìn)行了平地運(yùn)動(dòng)、輪-履切換以及以上下樓梯等試驗(yàn),驗(yàn)證了爬樓梯輪椅設(shè)計(jì)的可行性和實(shí)際使用效果。
[Abstract]:The accelerated process of population aging and the growth of the number of people with disabilities have a great impact on economic and social development, so there are more and more researches on various kinds of assistive devices for the elderly. As the largest population country in the world, China has a more urgent need for mobility aids. However, at present, the common walking aids can only be used on the barrier-free flat ground, and they do not have the functions of climbing stairs and surmounting obstacles. Most of the walking aids with climbing stair functions in foreign countries have shortcomings or high prices. In order to improve the care for the elderly and the disabled and to solve their travel problems better, this paper designs and implements a new type of stair climbing wheelchair based on the functional requirements and the current level of economic development in our country. The overall design of stairway wheelchair is carried out, including the analysis of the requirements, the design requirements, the main parameters, the mechanical structure and the design of the control system. The 3D structure design of stairway wheelchair is completed by SolidWorks software. Based on ANSYS Workbench software, the key parts of stairway wheelchair are analyzed by finite element method, and the control system of stairway wheelchair is established by modular design. The motor and sensor were selected, and the control program of climbing stairway wheelchair was compiled. The wheeled movement mode, wheel-shoe switching mode and crawler movement mode of stairway wheelchair are introduced, and the process of wheel-shoe switch and up and down stairs of stairway wheelchair are analyzed in detail. According to the important stage of climbing stairway wheelchair up and down stairs, the mechanical modeling is carried out. The simulation results of MATLAB software are compared with the test results of switching electric push rod thrust and the output torque of the crawler motor in the process of climbing up and down stairs. The stability of staircase climbing wheelchair is quantitatively described by using the concept of stability. Based on the prototype of climbing stairway wheelchair, the experiments of flat ground movement, wheel-toggle and up and down stairs are carried out to verify the feasibility of the design and the practical application effect of the stairway wheelchair.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TH789

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