Design And Simulation Of Stair Climbing Wheelchair For The Disabled

Stairs that bring convenience to our work and life,but also cause trouble for the disabled and the elderly,so it is especially important to design a wheelchair that can climb stairs and overcome obstacles.It has great use value and social significance.A stair climbing wheelchair is designed innovatively in this paper.The main innovations include the following aspects:The stair climbing wheelchair has four legs,they are all mounted on the seat frame,the two front wheel legs with the front wheels are fixed and non-retractable,and the two rear wheel legs with the rear wheels The rear wheel legs are composed of a rear wheel and an electric push rod that can be stretched.The motor drives the front wheel to realize the forward and reverse movements,and realizes the turning action by controlling the different rotational speeds of the two front wheel motors;the bracket frame is installed at the bottom of the seat frame,and the seat frame and the bracket frame can be relatively moved forward and backward by the linear guide pair.Four electric push rods are installed under the bracket frame to support the seat frame when it is moving;when the stair climbing wheelchai is going to climb stairs,the four electric push rods are extended to climb the stair wheelchair,and the seat frame is moved forward by the motor drives the linear guide pair to the next stair position,the rear wheel is extended to four wheel support stair climbing wheelchairs,four electric push rods are contracted,the bracket frame is moved forward by the motor drives linear guide pair,and the front wheel is driven to climb the stairs to the next step side.The stair climbing process is accomplished by alternating support of the electric push rods and the front and rear wheels and alternating movement of the seat and bracket frames.According to the functional analysis method,the mechanical structure design of the stair climbing wheelchair is completed,including the design of the flat driving mechanism,the design of the lifting mechanism required for the stair climbing mode,and the design of the horizontal moving mechanism.The key components are calculated and the selection is completed.The control system is designed,according to the function and requirements,a single-chip-based stair climbing wheelchair environment sensing system is designed to select the sensors that need to be used.Then the hardware design and software design of each module of the control system are carried out,including each sensor module,power module,signal light,buzzer alarm and stepping motor.Modeling and assembly are completed by using CREO 3D solid modeling software.The ANSYS finite element software is used to analyze the stress and deformation of the ball screw pair,the linear guide pair and the bracket frame to verify the safety and reliability of the selected parts.The ADAMS software is used to complete kinematics simulation of stair climbing wheelchair.The simulation results verify the feasibility of the design.