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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (4): 613-620    DOI: 10.3785/j.issn.1008-973X.2019.04.001
机械与能源工程     
智能轮椅担架车的折展机构设计与分析
桑凌峰1,2,3(),傅建中1,甘中学2,王洪波4,5,田宇4,5
1. 浙江大学 机械工程学院，浙江 杭州 310027
2. 宁波市智能制造产业研究院，浙江 余姚 315400
3. 宁波职业技术学院 机电工程学院，浙江 宁波 315800
4. 燕山大学 河北省并联机器人及机电系统实验室，河北 秦皇岛 066004
5. 燕山大学 先进锻压成形技术与科学教育部重点实验室，河北 秦皇岛 066004
Design and analysis of folding mechanism for intelligent wheelchair-stretcher robot
Ling-feng SANG1,2,3(),Jian-zhong FU1,Zhong-xue GAN2,Hong-bo WANG4,5,Yu TIAN4,5
1. College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
2. Ningbo Intelligent Manufacturing Industry Research Institute, Yuyao 315400, China
3. College of Mechanical and Electrical Engineering, Ningbo Polytechnic, Ningbo 315800, China
4. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
5. Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004, China
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摘要：

针对智能轮椅担架车折展状态之间的转换难题，提出单自由度5杆机构，对该机构进行详细的设计与分析. 通过最小包容面积法，得出扶手连杆和连架杆的最优尺寸，分别为507.9和332.5 mm；基于连杆机构的静力学分析，采用6根扭簧和RV减速电机作为连杆机构的驱动装置，减少了电机的驱动力矩，整体结构紧凑. 根据优化参数和驱动装置的计算结果，开展智能轮椅担架车折展机构的设计，分析扶手构件在如厕状态和折展状态时的应力变化，验证了该构件强度的可靠性. 研制智能轮椅担架车，采用不同重量的实验人员进行折展机构的性能测试，从机构的运动过程和电机电流变化来看，所设计的驱动装置和优化参数结果合理.
关键词： 轮椅担架车;  机构设计;  折展机构;  驱动装置    
Abstract:

A five-bar mechanism with single degree of freedom was proposed to realize the folding transforming of the intelligent wheelchair-stretcher robot. The mechanism was designed and analyzed in detail. The dimensions of the armrest link and the side link were optimized by using minimum containment area method, which were 507.9 mm and 332.5 mm, respectively. The driving device was designed by adopting six torsional springs and RV gear motor according to the static analysis in order to reduce the driving torque of the motor and compact overall structure. The folding mechanism of the robot was designed based on parameters optimization and the design of driving device. The stresses of the armrest link in the toilet state and the folding state were analyzed to verify its reliability. The prototype of the intelligent wheelchair-stretcher robot was developed, and the performance of its folding mechanism was tested. The designed driving device and the optimized parameters are reasonable from the change of the motor current and the view of the movement process of the whole device.
Key words: wheelchair-stretcher robot    mechanism design    folding mechanism    driving device
收稿日期: 2018-08-09 出版日期: 2019-03-28
CLC:  TP 242  
作者简介: 桑凌峰（1984—），男，讲师，博士后，从事医疗服务机器人研究. orcid.org/0000-0002-1029-8408. E-mail： sanglingfeng@163.com
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引用本文:

桑凌峰,傅建中,甘中学,王洪波,田宇. 智能轮椅担架车的折展机构设计与分析[J]. 浙江大学学报(工学版), 2019, 53(4): 613-620.

Ling-feng SANG,Jian-zhong FU,Zhong-xue GAN,Hong-bo WANG,Yu TIAN. Design and analysis of folding mechanism for intelligent wheelchair-stretcher robot. Journal of ZheJiang University (Engineering Science), 2019, 53(4): 613-620.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.04.001    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I4/613

图 1  折展机构简图
图 2  平面四连杆简图
图 3  折展机构的参数优化仿真
图 4  折展机构受力分析图
图 5  折展机构力矩变化图
UN/V i TN/（N·m） PN/W nN/（r·min?1）
24 1/862 48 200 2
表 1  RV减速电机参数表
图 6  折展机构俯视图
图 7  折展机构轴测图
图 8  智能轮椅担架车的背部机构图
图 9  智能轮椅担架车的如厕结构图
参数 参数值 参数 参数值
材料 304不锈钢 网格划分 标准网格
竖直载荷 350 N 网格密度 良好
表 2  扶手加载参数
图 10  扶手构件的应力仿真值
图 11  扶手构件的位移变形仿真值
图 12  扶手折展过程中的应力分析
图 13  智能轮椅担架车
图 14  折展机构驱动装置
图 15  智能轮椅担架车的折展过程
图 16  不同重量下的电机电流变化情况
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