摘要新型爬楼梯助力车实现的核心功能就是载物爬楼梯功能，其核心部件是行星轮机构,行星轮机构是实现载物爬楼梯功能的主要执行机构。助力车机械主体主要包括行星轮机构、减速器、车架等部分。在电机和电池控制箱的电动助力下，使星轮结构的作用得到更加充分的发挥，实现了助力车载物爬楼梯的功能。新型爬楼梯助力车的设计给物流行业提供了得力的载运支持。

通过对国内外各种爬楼梯设备的研究，在总结其优缺点的基础上，确定爬楼梯助力车采用行星轮机构。根据楼梯的国家标准，实现了四行星轮机构的尺寸设计。在此基础上创造性地设计出新型行星轮机构。本文分别对三行星轮、四行星轮机构和新型行星轮机构爬楼梯时，其轮毂中心点的运动轨迹方程进行了数学推导，并使用MATLAB软件进行运动仿真。使用ADAMS软件进一步分析验证三种行星轮机构轮毂中心运动轨迹。经MATLAB软件仿真分析得出的轨迹曲线和经由ADAMS软件运动仿真分析得出的轨迹曲线吻合，证明了上述推导出来的轮毂中心点的运动轨迹方程是正确的。通过分析比较三种行星轮机构轮毂中心点的轨迹曲线，可证明设计的新型行星轮机构大大提高了小车的运动性能。83287

使用3d Max软件对小车的实际工作进行虚拟仿真，制作出了三维动画。在理论的基础上进行实践加工，成功制作出了实物样机，达到了设计目的。

毕业论文关键词：爬楼梯；物流快递；新型行星轮机构；运动仿真；虚拟仿真

Abstract   The core function of the novel climbing stairs booster vehicle is the function of the carrier to climb the stairs。 The core component is the planetary wheel mechanism, the planetary wheel mechanism is the main executive mechanism to realize the function of the carrier。The mechanical main body of the booster vehicle mainly comprises a planet wheel mechanism, a speed reducer, a frame, etc。In the motor and battery control box of electric power, the role of star wheel structure play more fully to realize the function of power vehicle to climb stairs。The design of a new stair climbing bicycle to the logistics industry provides effective support for carrying。

    Based on summarizing the advantages and disadvantages of the domestic and foreign various kinds of stair climbing equipment, the use of planetary gear mechanism。The design of the four planet wheel mechanism according to the national standard of the stairs。On the basis of this, a new type of planetary gear mechanism is designed creatively。In this paper, the motion trajectory equation of the wheel hub of the three planetary wheel, the four planetary gear mechanism and the new type of planetary gear mechanism is deduced, and the motion simulation is carried out by using MATLAB software。Using ADAMS software to further analyze and verify the movement track of the wheel hub center of the three kinds of planetary wheel mechanism。By MATLAB software simulation analysis of the trajectory curve and through the ADAMS software simulation analysis of the trajectory curve fit, it is proved that the derivation of the wheel center point of the trajectory equation is correct。Through the analysis and comparison of the trajectory curve of the hub center point of three kinds of planetary wheel mechanism, the new planetary wheel mechanism which can prove the design has greatly improved the performance of the vehicle。

    Using Max 3D software to simulate the actual work of the vehicle and made 3D animation。To practice working on the basis of theory,produced a physical prototype successfully and meet the design objectives。

Keywords: Climbing stairs;Logistics express;New type planetary gear mechanism;    Motion simulation;Virtual simulation

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