Research On Wheel-switching Automatic Ladder Wheelchair

With the aging of the population and the increase in the number of people with disabilities,various types of research and manufacturing for assisting and assisting the elderly are also increasing,which has also brought about tremendous impact on the development of society.China,as the world's most populous country,has a larger proportion of elderly people and disabled people,and the need for assisted walking devices is even more urgent.However,the current auxiliary walking equipment can only walk on an accessible flat surface,does not have the function of climbing ladders and obstacles,and at the same time,the foreign ladder equipment is expensive or has some structural deficiencies.Therefore,in order to improve the care for people with disabilities and the elderly,they can better solve the problem of free walking in their daily lives.This paper is based on the study of ladder-chairs at home and abroad,from the functional design requirements for ladder-climbing wheelchairs and the current stage in China.Starting from the level of economic development,we studied and designed a wheel-turning-type automatic ladder wheelchair that can both walk on the ground and climb stairs.By analyzing the advantages and disadvantages of the ladder wheelchairs of various structural schemes,the principle scheme of the automatic ladder wheelchair is determined,and the mechanical system design of the wheel-turning-type automatic ladder wheelchair is completed.Among them,the ladder mechanical system for wheelchairs mainly includes a wheel-type walking mechanism,a crawler-type ladder mechanism,a wheel-track switching mechanism,and a seat adjustment mechanism.Based on the establishment of the wheelchair mechanical system for the ladders,the walking performance of the wheelchair with the wheel-turning ladders is analyzed,which mainly includes the performance of the crawler ladders and the walking performance on the ground.Through the PRO/E software,the three-dimensional modeling of wheelchairs for climbing stairs was performed.The ANSYS Workbench software was used to perform the finite element analysis on the key components of the ladder-climbing wheelchair to verify the strength of the key structural components of the ladder-climbing wheelchair.And using Adams software to carry out the simulation of the whole ladder-climbing wheelchair,simulates and analyzes the effect of wheel-to-door switching in the process of climbing stairs and wheelchairs.Through the finite element and simulation results,it can be seen that the overall structural design of the stair-climbing wheelchair meets the requirements,and the structural strength of key components is also in line with the design requirements.In this paper,the drive control system of the wheel-turning type automatic ladder wheelchair adopts the modular design concept.The control system mainly uses the core of the AT89C52 single-chip microcomputer.The drive system mainly includes the flat ground driving motor driving module,the crawler ladder driving module,the wheel switching module,and the seat adjustment module.