摘要：残障机器人作为一种以蓄电池为能源、电机驱动的新型电动残障机器人，作为室内使用的机器人具有省力、行动方便、车速平稳、无污染、噪音低等特点，残障机器人所面向的人群为失去行走能力或者行动不便的老人。但是现在市面行所销售的残障机器人大都价格昂贵，难以在患者中普及。因此，设计一款价格实惠且实用的残障机器人必将会有广阔的市场。对比了国内外此类残障机器人的外形及结构以及其行走的方式，我们应用现代设计理论及方法，对行走的方式进行分析，同时对残障机器人的车身骨架进行必要的优化，添加必要的辅助机构，利用SolidWorks软件进行此残障机器人的机构设计及各零部件的三维建模。由此我们想出了一种后轮驱动差速转向的行走方案，我们在后轮处用两个电机分别控制每个后轮的转速和转向来达到此残障机器人的速度控制和方向转变。后轮驱动转向具有驱动灵活的优点，基于这种设计，我们相应的想出了与之相匹配的电机及骨架机构。关于此残障机器人升降功能和平躺功能的设计，我们采用市面上已有的电动推杆作为辅助装置来实现此残障机器人的升降及平躺。残障机器人的机械结构的设计，是一种新型的低成本的电动残障机器人的机构设计，为以后的残障机器人的设计提供了相应的参考。73077

毕业论文关键字：残障机器人 机械机构设计 差速转向 电动推杆

Abstract: As a kind of new type of electric wheelchair driven by battery as energy and motor, the robot is used as the indoor force, the action is convenient, the speed is smooth, the pollution is not good and the noise is low。 The disabled robot faces the loss of walking Ability or mobility of the elderly。 But now the market sales of disabled robots are expensive, difficult to spread in patients。 Therefore, the design of a affordable and practical disabled robots will have a broad market。 By comparing the appearance and structure of such disabled robots at home and abroad and the way of walking, we use modern design theory and methods to analyze the way of walking, and make the necessary optimization of the body frame of the disabled robot, add the necessary auxiliary mechanism , The use of SolidWorks software for the robot design of the disabled and the three-dimensional modeling of various components。 Thus we came up with a rear-wheel drive differential steering program, we use the two motors at the rear wheel to control the speed and steering of each rear wheel to achieve the speed of the robot control and direction change。 Rear wheel drive steering has the advantages of flexible driving, based on this design, we have come up with the corresponding motor and skeleton institutions。 With regard to the design of the disabled robot's lifting function and lying-down function, we use the existing electric putter on the market as an auxiliary device to realize the lifting and lying of the disabled robot。 The design of the mechanical structure of the disabled robot is a new type of low-cost design of the electric wheelchair, which provides a reference for the design of the disabled robot。

Key words: handicapped robots; mechanical design; differential steering; electric push rods;

目录

第1章：绪论     5 

1。1课题背景及意义。5

1。2国内外研究现状。6

1。3本章小结。7

第2章：系统设计8

2。1设计分析8

 2。1。1设计思路8

 2。1。2本设计的主要工作9

 2。1。3本设计的难点9

2。2驱动及转向系统设计10

 2。2。1机器人驱动及转向系统方案分析及选择。10

 2。2。2后轮转向式驱动及转向系统设计10

2。3升降系统设计11