机械5

旋转式双轮电动轮椅设计 摘要 本课题设计的目的是通过设计出一种能够在普通小区，公共场合爬楼梯的辅助机构。我们首先对国内外助残轮椅市场的现状做了简单的总结，最终结果显示现如今市面上的助残轮椅大部分价格昂贵，一般消费者不能承受。进而对比国内外的各种爬楼梯轮椅，取其优点，综合考虑，确立设计思想。 本设计在传统电动轮椅基础上对其结构进行改变后，采用两个电机驱动平地行走机构和翻转轮系；通过一对电机驱动行星轮转动，并保持后侧2个轮的轮毂电机抱死，从而行星架转动带动车轮交替着地实现爬楼。姿态调整装置用于在上下楼梯时自动调整和控制轮椅的重心。设计功能的实现主要由平地行走、翻转轮系传动结构、位姿调整和驱动系统几部分组成。轮椅的整体形状与市场上普通的电动轮椅相似。平衡系统可以在电气控制时运用陀螺仪。 关键词：爬楼梯；机械设计；轮椅；行星轮 Abstract The purpose of this desig
n is to desig
n a ki
nd of auxiliary mecha
nism that ca
n climb stairs i
n commo
n areas, so as to ultimately desig
n a ki
nd of climbi
ngwheelchair robotwith reaso
nable prices, adva
nced performa
nce, a
nd eco
nomy. We first made a brief summary i
nvestigatio
n of the domestic a
nd foreig
nwheelchairs for the disabled. The fi
nal result shows that most of the disabledwheelchairs available i
n the market today are expe
nsive a
nd ca
n
not be afforded by the average co
nsumer. The
n compare domestic a
nd foreig
nwheelchairs for climbi
ng stairs, take adva
ntage of them, a
nd co
nsider comprehe
nsively to establish desig
n ideas. This desig
n is based o
n the structure of the traditio
nal electricwheelchair, two motors are used to drive the flatwalki
ng mecha
nism a
nd the tur
ni
ngwheel trai
n; the pair of motors drives the pla
netwheels to tur
n a
nd keeps the twowheels of the rearwheel hub motor locked. As a result, the rotatio
n of the pla
net carrier drives thewheels to alter
nately climb stairs. The posture adjustme
nt device is used to automatically adjust the co
ntrol ce
nter of gravitywhe
n thewheelchair goes up a
nd dow
n the stairs. The realizatio
n of the desig
n fu
nctio
n is mai
nly composed of several parts such as flatwalki
ng, tur
ni
ngwheel trai
n tra
nsmissio
n structure, posture adjustme
nt a
nd drivi
ng system. The overall shape of thewheelchair is similar to that of a ge
neral electricwheelchair o
n the market. The bala
nce system ca
n use a gyroscope duri
ng electrical co
ntrol. Keywords：Wheelchair, co
ntrol system, two-wheeled type, mecha
nical structure 目录 引言2 第一章绪论3 1.1研究背景3 1.2国内外研究现状4 1.2.1履带式爬楼轮椅4 1.2.2步进支撑式爬楼轮椅5 1.2.3行星轮式爬楼轮椅6 1.3国内研究现状7 1.4设计意义7 1.5设计内容8 第二章总体方案8 2.1设计要求8 2.2总体布局9 2.3本章小结9 第三章结构设计10 3.1轮椅总体尺寸10 3.2椅背、椅身设计11 3.2.1尺寸设计11 3.3位姿调整机构12 3.4车轮结构13 3.4.1车轮尺寸13 3.5翻转爬楼机构13 3.5.1爬楼机构组成13 3.5.2翻转电机的选取14 3.5.3减速器选型15 3.5.4翻转机构机构的轴设计15 3.5.5翻转齿轮的设计17 3.5.6齿轮材料的选取17 3.6平地行走机构18 3.6.1总体设计18 3.6.2功率计算18 3.6.3电动机的选取20 3.6.4减速器选型21 3.6.5平地行走机构的轴设计21 3.6.6定轴轮系齿轮设计22 3.6.7末端齿轮设计23 3.7控制手柄23 3.7.1功能介绍23 3.7.2基本原理24 3.8本章小结24 第四章控制系统25 4.1硬件选用25 4.1.1单片机25 4.2控制系统设计27 4.2.1概述27 4.2.2流程图设计28 4.3本章小结28 第五章总结27 参考文献28 致谢29