Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (3): 872-880.doi: 10.13229/j.cnki.jdxbgxb20181059

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Mechanical structure design and optimization of multifunctional auxiliary toilet wheelchair

Kun LIU1(),Shuo JI1,Zhen⁃yuan SUN1,Hong⁃wei XU1,Yong LIU1,Jing⁃xia ZHAO2   

  1. 1. College of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China
    2. College of Nursing, Jilin University, Changchun 130021, China
  • Received:2018-10-22 Online:2019-05-01 Published:2019-07-12

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Abstract:

A multi?functional auxiliary station type wheelchair mechanical structure is designed. Through the linear linkage design of variable rod length and variable rod position, the functions of supporting rod type seat lifting inside and outside the system and assistant sitting down in waiting mode are realized. The vertical displacement of external support rod fixed point is accurately controlled by adding an armrest device, so that the mechanism can assist the patient to fit the normal standing track of healthy human body in the course of operation for sitting down and standing down. The standard healthy human body station and sitting trajectory were normalized after normalization in Matlab software. The structure simulation using Catia software shows that the structure can complete the effect of sitting?assisted motion of the healthy human body. The function of automatic toilet movement or wheelchair movement can be realized by adding the toilet seat and moving wheel. Using finite element software, the minimum quality is the goal, the constraints are set, and the quality of the consumables is greatly reduced under the premise of ensuring the mechanical properties of the mechanical structure.

Key words: mechanical design, STS rehabilitation training, toilet wheelchair, structure optimization

CLC Number: 

  • TP212.9

Fig.1

Simplified model of human body′s STS motion"

Table 1

Length of lower limb segments with different standard heights[10] "

性别 18~60岁成年男性 18~55岁成年女性
身高/m 1.604 1.678 1.754 1.814 1.503 1.570 1.659 1.697
小腿长/mm 344 369 396 419 319 344 376 390
大腿长/mm 436 465 496 523 410 438 476 494

Fig.2

Trajectory and normalization of hip joint in different human standing processes"

Table 2

Standard normalized trajectory fitting nth order function"

n P 0 P 1 P 2 P 3 P 4 残差模
1 0.66151 0.37018 ? ? ? 0.06790
2 0.62843 0.63428 －0.26639 ? ? 0.01797
3 0.62040 0.63271 －0.16931 －0.10380 ? 0.08621
4 0.63732 0.32835 1.17240 －2.17650 1.03290 0.00619

Fig.3

Mechanical structure of multi?functional wheelchair"

Table 3

Main components of multifunctional wheelchair"

序号 部件名称 序号 部件名称 序号 部件名称
1 主控传动箱 5 脚踏 9 二号皮带
2 侧向三角主框架 6 传动伸缩支杆 10 一号皮带
3 传动底座 7 座椅装置
4 车轮 8 三号皮带

Fig.4

Schematic diagram of structural simplification"

Table 4

Relation of the length value of external support, its elongation value and end displacement"

外支杆伸长与后移值之比/1：k ex 1 1.5 2 2.5 3 3.5 4
外支杆伸长值/mm 152.0 124.7 105.6 91.5 80.7 72.2 65.2
末端后移值/mm 152.0 187.1 211.2 228.8 242.1 252.6 261.0
支杆初始长度/mm 567.0 594.3 613.4 627.5 638.3 646.8 653.8

Fig.5

Motion trajectory of point A under different DE values"

Table 5

Relation of the length value of external support, its elongation value and end displacement"

内支杆伸长值与前移值之比/1：k in 2 3 4 8 12 16 32
内支杆伸长值/mm 124.6 105.3 89.0 53.2 37.7 29.1 15.2
末端前移值/mm 249.2 315.9 355.8 425.7 452.2 466.1 487.8
支杆初始长度/mm 378.4 397.7 414.0 449.8 465.3 473.9 487.8

Fig.6

Comparisons between hip joint trajectory of healthy people and passive training subject"

Table 6

Main structural dimensions and parameters"

分类 主要尺寸 锥齿轮 齿轮 丝杠
初始长（高）度尺寸/mm 行程/mm 主动锥齿轮齿数/N 从动锥齿轮齿数/N 齿数/N 模数/m 螺距/mm 公称直径/mm
外支杆传动 613.4 105.6 40 10 10 1 4 20
内支杆传动 473.9 29.1 20 10 20 2 4 20
扶手传动 ? 125.5 32 16 ? ? 4 20

Fig.7

Finite element analysis of initial size"

Fig.8

Main structural dimensions and parameters"

Fig.9

Dynamic sketch of mechanical structure"

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