智能轮椅担架车的折展机构设计与分析  

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

作　　者：桑凌峰 傅建中[1] 甘中学[2] 王洪波 田宇[4,5] SANG Ling-feng;FU Jian-zhong;GAN Zhong-xue;WANG Hong-bo;TIAN Yu(College of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China;Ningbo Intelligent Manufacturing Industry Research Institute,Yuyao 315400,China;College of Mechanical and Electrical Engineering,Ningbo Polytechnic,Ningbo 315800,China;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education,Yanshan University,Qinhuangdao 066004,China)

机构地区：[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

出　　处：《浙江大学学报（工学版）》2019年第4期613-620,共8页Journal of Zhejiang University：Engineering Science

基　　金：浙江省教育厅一般科研资助项目(Y201840178);国家科技支撑资助项目(2015BAI06B01);浙江省博士后择优资助项目;江苏省创新资金资助项目(BC2015076)

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.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 507.9mm and 332.5mm,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.

关 键 词：轮椅担架车 机构设计 折展机构 驱动装置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]