轮椅担架一体化护理机器人设计  

Design of Nursing Robot With Integrated Wheelchair and Stretcher Fuctions

作　　者：桑凌峰 傅建中[1] 甘中学[2] 王洪波 SANG Lingfeng;;; FU Jianzhong; GAN Zhongxue; WANG Hongbo4,5(College of Mechanical Engineering, Zhejiang University, Hangzhou Zhejiang 310027, China;Ningbo Intelligent Manufacturing Industry Research Institute, Yuyao Zhejiang 315400, China; College of Mechanical and Electrical Engineering, Ningbo Polytechnic, Ningbo Zhejiang 315800 ,China; Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao Hebei 066004, China; 5 Key Laboratory of Advanced Forging ＆ Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao Hebei 066004 ,China)

机构地区：[1]浙江大学机械工程学院,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

出　　处：《机械设计与研究》2018年第5期65-69,共5页Machine Design And Research

基　　金：国家科技支撑计划资助项目(2015BAI06B01);浙江省博士后择优资助项目和人才引进资助项目(10600300300509)资助;江苏省创新资金资助项目(BC2015076)

摘　　要：基于老年人及患者目前所面临的搬移转运难、如厕难、出行难等问题,设计了1款轮椅担架一体化护理机器人。首先,根据实际需求,分析出这款机器人应具有自动折叠功能、全方位自动行走功能、自动升降功能、马桶自动打开功能和宽度调节功能。其次,建立了这些功能的机构简图和3维图,并对其运动进行了分析;之后,进行了整个机械装置的设计,搭建了样机的控制系统,并设计了遥控器;最后,通过实验的方法测试了样机的各种功能,从实验效果来看,样机基本可以完成所要求的全部功能。Based on the current problem of the eldly and patients,such as the difficulty in the transferring,going to the bathroom and going outside,a novel nursing robot is developed and integrate wheelchair and stretcher fuctions.Firstly,according to the requirements,the robot should have automatic folding,lifting,opening of the toilet and width controlling fuctions. Secondly,mechanism schematics and three-dimensional diagrams are established,and the corresponding kinematics are analyzed. Thirdly,the the prototype of the whole mechanism is designed,and the control system is built and the remote control is developed. Finally,the each fuction of the prototype is conducted. Analyzing the experimental results,the conclusion is that the prototype could complete all the functions required.

关 键 词：护理机器人 机械系统设计 控制系统设计 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]