by Mao Jianhui
Supervisor: Prof. Cao Dongxing
March 2013
This work supported by the National Natural Science Foundation of China. No. 51275152
河北工业大学硕士学位论文
第二章 概念设计理论和方法 ................................................................................................ 7
§2-1 引言............................................................................................................................................. 7 §2-2 概念设计内涵及特征 ................................................................................................................. 7 §2-3 公理设计理论............................................................................................................................. 8 2-3-1 公理设计中的设计空间 ................................................................................................... 9 2-3-2 公理设计中的映射变换 ................................................................................................... 9 2-3-3 设计公理 ......................................................................................................................... 10 §2-4 质量功能布置（QFD: Quality Function Deployment） ......................................................... 10 2-4-1 QFD 的概念 ..................................................................................................................... 10 2-4-2 QFD 的核心—质量屋 ......................................................................................................11 2-4-3 QFD 两个基本的实施过程 ............................................................................................. 12 §2-5 功能方法树............................................................................................................................... 12 2-5-1 自顶向下的功能方法树 ................................................................................................. 13 2-5-2 自底向上的功能方法树 ................................................................................................. 14 §2-6 本章小结................................................................................................................................... 15
答辩委员会主席： 评 阅 人：
2013 年 3 月
Thesis Submitted to Hebei University of Technology for The Master Degree of Mechanical Engineering
DESIGN AND SIMULATION OF WHEEL-LEGGED WHEELCHAIR STAIR-CLIMBING MECHANISM
原创性声明
本人郑重声明：所呈交的学位论文，是本人在导师指导下，进行研究工作所取得的成 果。除文中已经注明引用的内容外，本学位论文的研究成果不包含任何他人创作的、已公 开发表或者没有公开发表的作品的内容。 对本论文所涉及的研究工作做出贡献的其他个人 和集体，均已在文中以明确方式标明。本学位论文原创性声明的法律责任由本人承担。
§1-1 课题的研究背景和研究意义 ...................................................................................................... 1 §1-2 爬楼梯轮椅底盘国内外研究现状 .............................................................................................. 1 §1-3 本课题的研究目的及研究内容 ................................................................................................. 5
分类号： U D C：
TH122
密级： 编号： 13-085201-8M
学
位
论
文
轮腿式轮椅爬楼机构设计及仿真
毛建辉
指导教师姓名： 申请学位级别：
曹东兴 教 授 硕 士
河北工业大学 机械工程
学科、专业名称：
论文提交日期： 2013 年 3 月 学位授予单位：
论文答辩日期: 2013 年 3 月
Байду номын сангаас
河北工业大学
ii
河北工业大学硕士学位论文
目录
第一章 绪论 ...................................................................................................................................... 1
河北工业大学硕士学位论文
轮腿式轮椅爬楼机构设计及仿真
摘
要
随着人口老龄化问题的日益严重和因交通事故等原因造成残疾人数量的增加， 电动轮 椅在老年人和残疾人的生活中扮演着重要的角色， 将为改善这一特殊人群的生活起到不可 替代的作用。然而，生活环境中的台阶越来越多，普通的电动和手动轮椅都不具备上下楼 梯、 翻越障碍物的功能， 降低了用户的行动自由度， 已经不能满足老年人和残疾人的需要。 轮腿式轮椅爬楼机构是一种辅助轮椅上下楼梯的装置， 可以用来解决电动轮椅爬楼梯的难 题。本文主要对轮腿式轮椅爬楼机构进行设计及仿真，包括多方案的产生、方案评价、构 形设计以及五杆机构的运动学分析和仿真。 本文首先通过对国内外各种轮椅爬楼机构的研究， 在总结各种爬楼机构的优缺点的基 础上，根据我国国情，提出了一种无需他人辅助的轮腿式轮椅爬楼机构。然后由概念设计 理论对轮椅爬楼机构进行方案设计，得到可行方案，给出机械运动简图，并对可行方案通 过效用价值分析法进行评估， 得出最佳设计方案。 根据最佳设计方案对轮椅爬楼机构进行 构形设计， 以及对轮椅运动模式的分析。 最后对五杆机构进行奇异点研究及运动学分析和 仿真。作为一部符合中国国情的代步工具，该轮椅不但可以应用到医院、社区和家庭等环 境，而且能够在街道和商场等公共场所使用，具有广阔的市场前景。 关键词：轮腿式轮椅，爬楼梯，概念设计，五杆机构
i
轮腿式轮椅爬楼机构设计及仿真
DESIGN AND SIMULATION OF WHEEL-LEGGED WHEELCHAIR STAIR-CLIMBING MECHANISM
ABSTRACT
With the aging of the population problem more and more serious and due to traffic accidents and other reasons causing an increase in the number of disabled persons, electric wheelchair plays an important role in the life of elderly and disabled person , and it will be an irreplaceable role for the improvement of the special group of life. However, more and more steps in the living environment, general electric and manual wheelchairs do not have the function of climbing up over the stairs and obstacles. This reduces the users’ freedom to act. They have been unable to meet the needs of the elderly and disabled. Wheel-legged wheelchair stair-climbing mechanism is a kind of auxiliary stair-climbing wheelchair device, and can be used to solve the difficult problem of wheelchair climbing stairs. This paper focuses on the design and simulation of wheel-legged wheelchair climbing mechanism, including the emergence of multiple programs, program evaluation, configuration design and five bar mechanism kinematics analysis and simulation. Firstly, based on the research of domestic and international stair-climbing mechanism and the summary for advantages and disadvantages of various stair-climbing mechanism, this paper put forward a stair-climbing mechanism in wheel-legged wheelchair without others assisted according to our country. Secondly, by the conceptual design of stair-climbing mechanism, we get the project design. After giving the mechanical movement diagram and evaluating the feasible options by utility value analysis, we get the best design program. Then we finish the configuration design and the analysis of movement patterns for wheel-legged wheelchair. Finally, we research the singular point of five bar mechanism and complete the kinematics analysis and simulation. As a mean of transport with China's national condition, this wheelchair can be used in hospitals, community and family, but also it can be used in the streets, shopping malls and other public places. Summarily, it’s destined to have broad market prospects. KEY WORDS: wheel-legged wheelchair，climbing stairs，conceptual design， five-bar mechanism