Design and analysis of folding mechanism for intelligent wheelchair-stretcher robot

doi:10.3785/j.issn.1008-973X.2019.04.001

Journal of ZheJiang University (Engineering Science)

2019, Vol. 53

Issue (4): 613-620 DOI: 10.3785/j.issn.1008-973X.2019.04.001

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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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

Received: 09 August 2018 Published: 28 March 2019

CLC:

TP 242

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	Ling-feng SANG
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	Yu TIAN

Cite this article:

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.

URL:

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

智能轮椅担架车的折展机构设计与分析

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

Fig.1 Schematic diagram of folding mechanism

Fig.2 Schematic diagram of planar four bar linkage

Fig.3 Parameter optimization of folding mechanism

Fig.4 Force analysis of folding mechanism

Fig.5 Torque change of folding mechanism

Tab.1 Parameter list of RV reduction motor

Fig.6 Vertical view of folding mechanism

Fig.7 Axonometric view of folding mechanism

Fig.8 Back mechanism diagram of intelligent wheelchair-stretcher robot

Fig.9 Structure diagram of intelligent wheelchair-stretcher robot in toilet state

Tab.2 Loading parameter list of armrest

Fig.10 Stress simulation of armrest component

Fig.11 Displacement deformation simulation of armrest component

Fig.12 Stress analysis of armrest component in folding process

Fig.13 Intelligent wheelchair-stretcher robot

Fig.14 Driving device of folding mechanism

Fig.15 Folding process of intelligent wheelchair-stretcher robot

Fig.16 Current of motor in different weight


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