多功能坐站辅助型如厕轮椅机械结构设计与优化
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摘要
设计了多功能坐站辅助型如厕轮椅机械结构。通过变杆长及变杆位的线性联动设计,使系统内外支撑杆对座位托举上升实现人体站起和迎候式辅助人体坐下的功能;加设扶手装置实现准确控制外支杆定点纵向位移,使机构在运行过程中辅助患者拟合对标健康人体正常站起轨迹进行坐下和站起的效果。对标健康人体的站、坐运动轨迹在Matlab软件中经归一标准化处理后得出。通过软件进行结构仿真模拟表明,该结构能够完成根据对标健康人体坐站运动轨迹进行运动康复辅助的效果。加设坐便圈及移动轮后可实现如厕动作辅助或轮椅移动功能。通过有限元软件,以质量最小为目标,设置约束条件,在保证机械结构力学性能的前提下极大降低了耗材质量。
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.
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.
引文
[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-Mu?oz FJ,et al.Impact of fibromyalgia in the sit-to-stand-tosit 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:www.paper.edu.cn/releasepaper/content/200508-157.
[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].
[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-Mu?oz FJ,et al.Impact of fibromyalgia in the sit-to-stand-tosit 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:www.paper.edu.cn/releasepaper/content/200508-157.
[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].