助老轮履协同轮椅设计

Design of a Wheeled-Tracked Copperative Wheelchair for Elderly

为帮助行走困难的老年人,设计一种轮履协同轮椅。平地时用轮式行走,遇到障碍或者攀爬楼梯时用履带行走。该轮椅只有一个电机驱动,利用摩擦离合器实现轮式行走和履带行走之间的动力切换,简化了动力系统。利用液压缸推杆的伸缩使四杆机构变形,可以分别实现轮子着地和履带着地。转向机构采用可拆卸装置,方便老人上下轮椅,并能防止攀爬楼梯时发生干涉。为助老轮椅的设计提供了一种新型结构。

A wheeled-tracked copperative wheelchair was designed to help the elderly who have difficulty walking.Wheeled walking is used when the ground is flat,and tracked walking is used when encountering obstacles or climbing stairs.The wheelchair is only driven by a servo motor,and a friction clutch is used to realize the power switch between wheeled-walking and tracked walking,which greatly simplifies the power system.The hydraulic cylinder is used to realize the deformation of the four-bar mechanism,and then the switch between wheeled walking and tracked walking can be realized respectively.The steering mechanism adopts a detachable device,which is convenient for the elderly to get on and off the wheelchair,and can prevent the interference when the wheelchair is climbing the stairs.