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

Previous Articles     Next Articles

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

RICH HTML

 44   

PDF (PC)

406

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"

1 Huffman K D ， Sanford B A ， Zucker⁃Levin A R ，et al . Increased hip abduction in high body mass index subjects during sit⁃to⁃stand[J]. Gait & Posture，2015，41(2): 640⁃645.
2 Abujaber S ， Pozzi F ， Zeni J . Influence of weight bearing visual feedback on movement symmetry during sit to stand task[J]. Clinical Biomechanics，2017，47: 110⁃116.
3 Mezzarobba S ， Grassi M ， Valentini R ，et al . Postural control deficit during sit⁃to⁃walk in patients with parkinson’s disease and freezing of gait[J]. Gait & Posture，2018,61: 325⁃330.
4 Lepetit K ， Mansour K B ， Boudaoud S ，et al . Evaluation of the kinetic energy of the torso by magneto⁃inertial measurement unit during the sit⁃to⁃stand movement[J]. Journal of Biomechanics，2018，67: 172⁃176.
5 Chang C K ， Lin Y Y ， Wong P C ，et al . Improve elderly people's sit⁃to⁃stand ability by using new designed additional armrests attaching on the standard walker[J]. Journal of the Chinese Medical Association，2017，81(1): 81⁃86.
6 Narvaez⁃Aroche O ， Packard A ， Arcak M . Motion planning of the sit to stand movement for powered lower limb orthoses[C]⫽ASME Dynamic Systems and Control Conference,Washington，USA， 2017.
7 Mombaur K ， Hoang K L H . How to best support sit to stand transfers of geriatric patients: motion optimization under external forces for the design of physical assistive devices[J]. Journal of Biomechanics，2017，58: 131⁃138.
8 Collado⁃Mateo D ， Adsuar J C ， Domínguez⁃Muñoz F J ，et al . Impact of fibromyalgia in the sit⁃to⁃stand⁃to⁃sit performance compared with healthy controls[J].PM & R the Journal of Injury Function & Rehabilitation，2016，9(6): 588⁃595.
9 Nuzik S ， Lamb R ， Vansant A ，et al . Sit⁃to⁃stand movement pattern: a kinematic study[J]. Physical Therapy，1986，66(11): 1708⁃1713.
10 李伟，张宝光 ．应用于工业设计的人体尺寸数据的分析处理[EB/OL]. [2005⁃08⁃24].http:⫽⁃157.
11 中华人民共和国国家质量监督检验检疫总局，中国国家标准化管理委员会. GB/T 34549—2017，卫生洁具智能坐便器[S].
[1] Xing⁃ye WANG,Jin⁃qiu ZHANG,Guo⁃qiang LI,Zhi⁃zhao PENG. Influence of inertial mass on rack and pinion actuator′s damping characteristic [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 881-887.
[2] Jia⁃xu WANG,Xiao⁃kang NI,Yan⁃feng HAN,Guo XIANG,Ke XIAO. Numerical model of mixed lubrication for microgroove bearing considering axial reciprocating motion [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 888-896.
[3] BI Qiu-shi,WANG Guo-qiang,HUANG Ting-ting,MAO Rui,LU Yan-peng. Tooth strength analysis of mineral sizer by coupling discrete element method and finite element method [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1770-1776.
[4] ZHU Wei,WANG Chuan-wei,GU Kai-rong,SHEN Hui-ping,XU Ke,WANG Yuan. Stiffness and dynamics analysis of a new type of tensegrity parallel mechanism [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1777-1786.
[5] LIU Jian-fang, WANG Ji-bo, LIU Guo-jun, LI Xin-bo, LIANG Shi-hai, YANG Zhi-gang. PMMA micromixer embedded with 3D channel based on piezoelectric actuation [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1500-1507.
[6] LUAN Xin, DENG Wei, CHENG Lin, CHEN Xin-yuan. Mixed Logit model for understanding travel mode choice behavior of megalopolitan residents [J]. 吉林大学学报(工学版), 2018, 48(4): 1029-1036.
[7] WANG Tao, SAN Xiao-gang, GAO Shi-jie, WANG Hui-xian, WANG Jing, NI Ying-xue. Dynamic characteristics of vertical shaft system of photoelectric turntable [J]. 吉林大学学报(工学版), 2018, 48(4): 1099-1105.
[8] HE Ji-lin, CHEN Yi-long, WU Kang, ZHAO Yu-ming, WANG Zhi-jie, CHEN Zhi-wei. Energy flow analysis of crane hoisting system and experiment of potential energy recovery system [J]. 吉林大学学报(工学版), 2018, 48(4): 1106-1113.
[9] XIE Chuan-liu, TANG Fang-ping, SUN Dan-dan, ZHANG Wen-peng, XIA Ye, DUAN Xiao-hui. Model experimental analysis of pressure pulsation in vertical mixed-flow pump system [J]. 吉林大学学报(工学版), 2018, 48(4): 1114-1123.
[10] SUN Xiu-rong, DONG Shi-min, WANG Hong-bo, LI Wei-cheng, SUN Liang. Comparison of multistage simulation models of entire sucker rod with spatial buckling in tubing [J]. 吉林大学学报(工学版), 2018, 48(4): 1124-1132.
[11] YOSHINO Tatsuo, FAN Lu-lu, YAN Lei, XU Tao, LIN Ye, GUO Gui-kai. Multiobjective optimization design for dummy chest structure based on MBNWS algorithm [J]. 吉林大学学报(工学版), 2018, 48(4): 1133-1139.
[12] LIU Kun, LIU Yong, YAN Jian-chao, JI Shuo, SUN Zhen-yuan, XU Hong-wei. Dynamic analysis of sit-to-stand human motion based on in vitro-sensor detection [J]. 吉林大学学报(工学版), 2018, 48(4): 1140-1146.
[13] LIU Zhi-feng, ZHAO Dai-hong, WANG Yu-mo, HUN Lian-ming, ZHAO Yong-sheng, DONG Xiang-min. Relationship between bearing capacity of heavy machine hydrostatic rotary table and temperature field distribution of oil pad [J]. 吉林大学学报(工学版), 2018, 48(3): 773-780.
[14] CAO Jing-hua, KONG Fan-sen, RAN Yan-zhong, SONG Rui-chen. Back pressure controller design of air compressor based on fuzzy self-adaptive PID control [J]. 吉林大学学报(工学版), 2018, 48(3): 781-786.
[15] LI Rui, ZHANG Lu-yang, LIU Lin, WU Yue-yuan, CHEN Shi-wei. Magneto-rheological vibration isolation for three-span bridge based on similarity theory [J]. 吉林大学学报(工学版), 2018, 48(3): 787-795.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] ZONG Fang, QI Hou-cheng, TANG Ming, LYU Jian-yu, YU Ping. Identifying daily travel pattern-trip purpose using GPG data[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1374 -1379 .
[2] HUANG Hui, FENG Xi-an, WEI Yan, XU Chi, CHEN Hui-ling. An intelligent system based on enhanced kernel extreme learning machine for choosing the second major[J]. 吉林大学学报(工学版), 2018, 48(4): 1224 -1230 .
[3] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636 -1644 .
[4] HAN Yong, YANG Ji-Kuang, LI Fan, LIU Kai-Yang. Finite element analysis of lower extremity fractures in vehiclepedestrian collision[J]. 吉林大学学报(工学版), 2011, 41(01): 6 -0011 .
[5] GUO Hong-wei, GAO Zi-you, ZHAO Xiao-mei. Pedestrian crossing behaviours based on duration model[J]. 吉林大学学报(工学版), 2009, 39(增刊2): 35 -0040 .
[6] XI Lei, XU Liang, GAO Jian-min, ZHAO Zhen, WANG Ming-sen. Flow and heat transfer characteristics of steam in thick-wall rectangular ribbed channel[J]. 吉林大学学报(工学版), 2018, 48(3): 752 -759 .
[7] LIU Jian-fang, WANG Ji-bo, LIU Guo-jun, LI Xin-bo, LIANG Shi-hai, YANG Zhi-gang. PMMA micromixer embedded with 3D channel based on piezoelectric actuation[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1500 -1507 .
[8] XU Yan,SUN Mei-shuang. Enhancing underwater image based on convolutional neural networks[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1895 -1903 .
[9] ZHANG Yang, LIU Xin-hui. Yaw stability for steering motion of articulated vehicle[J]. 吉林大学学报(工学版), 2012, 42(02): 266 -271 .
[10] LI Peng-hui, ZHANG Wen-hui, HU Meng-xia, LI Yi-bing, WU Biao. Analysis on saccade behavior of driver during overtaking on freeway[J]. 吉林大学学报(工学版), 2016, 46(1): 114 -119 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd