摘 要
轮椅是肢体残疾人和老年人的重要代步工具。在发展中国家，很多老式的居民楼里没有电梯，肢体残疾人士和老年人上下楼不方便。国外发达国家研制的爬楼轮椅大多价格昂贵，且操作复杂，发展中国家普通用户难以承担。国内开发的产品与国外产品的差距较大，尤其是在轮椅爬楼稳定性和安全性方面做得还不够好。本课题在借鉴国内外相关研究的基础之上，提出了一种新型爬楼轮椅的方案，以期更好地解决轮椅爬楼的稳定性和安全性问题。本文对爬楼轮椅的总体方案及关键问题进行了研究，研究内容及结果包括：
（1）进行了爬楼轮椅的总体设计。采用综合评分法对现有爬楼机构的工作原理及各种不同机构的优缺点进行分析，确定了以三星轮式机构作为爬楼机构；对可爬楼梯轮椅车的传动系统，尾架系统，底盘小车，座椅系统进行了总体设计。
（2）对动力系统进行了设计，通过计算分析选择了底盘小车动力系统的电机，电池和减速器；通过分析列出翻越台阶约束，转速约束，其他约束三大约束条件，并选择出最优的行星架零件参数。
（3）使用SolidWorks软件对爬楼轮椅的结构进行了设计，并进行中心轴，外圈轴和车轮的应力应变分析。
 
关键词: 爬楼轮椅 轮式机构 调平机构 SolidWorks

ABSTRACT
Wheelchair is an important transport of physically disabled and elderly people.In some developing countries, many of the old buildings are not equipped with elevators, so physically disabled and elderly people up and down the stairs harder. The stair-climbing wheelchair which manufactured in developed countries is expensive and complicated to operate, so ordinary users in developing countries is difficult to bear. The gap between the domestic products and foreign products is a little large,especially in climb stability and security, and we are not doing well enough. This topic proposed a new kind of stair-climbing wheelchair solution which based on the relevant research at home and abroad, in order to better solve the stability and security of the wheelchair when climb the stair. In this paper, the overall scheme and the key problems of the stair-climbing wheelchair is studied, and  the research contents and results include:
(1) This paper has designed the overall of the stair-climbing wheelchair. In this paper, the comprehensive evaluation method is used to analyze the working principle of the stair-climbing mechanisms and the advantages and disadvantages of the different mechanisms, and determined the three wheeled wheel mechanism as a stair-climbing mechanisms;This paper has designed The transmission system, tailstock system, chassis trolley and seat system of the stair climbing wheelchair.
(2)  the power system is designed, and the motor, battery and reducer of the chassis power system are selected by calculation and analysis. By analyzing and listing the step constraints, the speed constraints, the other constraints, and selecting the optimal parameters of the three constraints of the planet frame.
(3) The structure of the climbing wheelchair was designed by SolidWorks software, make the stress and strain analysis of the center shaft, outer ring shaft and wheel Key words: stair-climbing wheelchair   wheel mechanism   leveling mechanism  SolidWorks