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平行运动机构分析和构型设计含SW三维及17张CAD图

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平行运动机构分析和构型设计含SW三维及17张CAD图,平行运动机构分析和构型设计含SW三维及17张CAD图

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SW13CAD QQ1459919609- SW .dwg .dwg .DWG .DWG 1.dwg 1 2 .dwg .docx .doc .DWG 2.DWG .DWG .dwg 嵥.txt 2.dwg .dwg .docx .dwg .docx 仯壬 SolidWorksPKP268D28A-L綯SolidWorkssimulation 2 ABSTRACT3 14 1.14 1.2塭5 1.36 1.48 2巽10 2.1 10 2.2 巽10 2.3 11 2.4 12 2.5 13 314 3.1 14 3.2 15 3.2.1 18 3.2.2 19 3.3 20 4 21 4.121 4.2 25 4.327 528 5.1 28 5.229 5.330 5.4 31 632 6.133 6.234 36 38 Mechanism Design and Simulation Analysis of Multifunctional Nursing BedLizong Lin, Song Zhang, Xinglong Hu School of Mechanical and Power Engineering East China University of Science and Technology, Shanghai, China E-mail: lizonglin E-mail: Abstract-This research develops a new multifunctional nursing bed that can realize the movements of turning left and right sides and defecating on the bed for clinical use. And use the ADAMS to analysis the effects to the motor torque from the force on the rotated board, friction of contact pair and space position. By analysis of dynamic on the model of the main mechanism can get the curves and the influences of torque, which plays an important guiding role in selecting appropriate motor and installation structure.Keywords- nursing bed, ADAMS, virtual prototyping, dynamic analysisI. INTRODUCTIONNursing beds as parts of medical equipments are necessary for hospital care, and has been widely used in hospitals, nursing homes, retirement homes and many other fields. However, the prices of good quality nursing beds are expensive, the new study can reduce the cost and the difficulty of care, for example, to the patients resting on the bed for a long time, their turning over and lifting back required nurses have sufficient physical strength. Common beds just have head up, leg flexion and extension functions, this bed adds the function as rolling around, defecating on the bed and so on as needed 1.II. MECHANISM DESIGNThe nursing bed can be divided into four parts by the structure and function as: bed body, control cabinet, a framework for activities, removable bedpan. Block diagram as in Fig. 1In the control cubicle, the installment has the master control board, the motor-driven board, the transformer, the switching power supply and so on. The control cubicle connects with the nursing bed by the connection. Except the fixed mechanism, the bed body also includes the drive motor and the vane organization. The active frame installment has the wheels, which may be separated from the nursing bed. In the frame there are the water tank, stool which can rise and fall and the hot air blower. The transportable bed pan also installs wheels and can insert into the activity frame. In addition, the control system also includes the wire operators, the LCD and so on. In the system there are six DC motors which complete the actions of rising and falling of the head, the flexion of the leg, rolling around of the left and right, opening and closing of the vane and rising and falling of the stool and so on.A. Bed Function.The bed activity functions including the rising and falling of the head, the flexion of the leg and the bed body tum sides which satisfied patients active request basically, favors the patients to improve their blood circulation and prevents the bedsore. This nursing bed has designed the flexion of the leg conforms to human bodys movement characteristic. The bed body side turns may divide into three movements: the left side to tum, the right side to tum and the even side. Fig. 2, Fig. 3, Fig. 4 is the bed bodys three movements. B. Nursing Function The defecation function is rare in other electric nursing bed which suits the paralysis patient especially. In the middle of the bed body there is a rectangular opening, where can only seen two vanes in the normal condition. When defecating, the vane turns down to makes a breach, then the defecation device rise. After the defecation completed, the vane upturns continues to fill the gap. The defecation device is composed of the active frame and the motion bed pan which can inserts into the frame, and the entire frame can coordinate to load the bed body. The nursing bed can also provide the functions of spraying water and drying. In the active frame installed the water tank, the hot air blower and the solenoid valve. The water tank has a water pump, heater, the temperature sensor and the water level sensor. It can be realized that the water temperature establishment, the water temperature maintains and the water tank volume automatic increase and so on under the controllers control. The patient who is sick bed in long-term is the major recipients of this nursing bed. Before defecate, press the key stool raise on the remote control, two vanes open, and then the stool raise, plate of the stool erects automatically, and so as to the bed pan. The patient can defecate after these movements completed. After the defecation completes, press corresponding key, carries on the flushing first, then uses hot blast drying, which has manifested the human nursing function. The water for flushing is preserved in the tank, and use heating wire to maintain the temperature. Its needed to gather and process of the temperature in order to realize the control of it, the gather can completed by the sensor, the process and control can completed by the monolithic integrated circuit. As a result of the patients defecate time is uncertainty, and requests maintains the temperature constant, for the aim of providing appropriate temperature momentarily.III. SYSTEM MODELINGA. Modelling Nursing bed is a very complex structure, which can divided into the mechanical component of the bed body, the active frame, the transportable bed pan, the electronic control system and the motor driven system by the structure and the function. Fig. 5 is the geometric modeling graph of the vane 2.I Right rotated board 2 lever of right rotated board 3 Driving arm of right rotated board 4 Motor of right rotated board 5 Motor of left rotated board 6 Driving arm of left rotated board 7 lever of left rotated board 8 Left rotated board 9 Door axis of rotated boardFigure 6 Lever and driving arm of rotated board I Lever of rotated board 2 Driving arm of boardB. Contact Pairs Processing Fig. 6 is the geometric modeling graph of the vane lever and actuating arm. The axis of one of the vane lever ends fixed with the vane, the other end has a curve groove. Both sides of the vane actuating arm are round axes, whose axle centers are parallel. One axis is linked with the motor and fixed, the other coordinated with the curve groove to form a contact. The motor caused the actuating arm to reverse, which can realize opening and closing of the vane.III. SIMULATION ANALYSIS The purpose of dynamics simulation of the vane is to analysis the influence to the torque in the different condition, and guide to improve the design and select the appropriate drive motor 3. A. !influence to Torque from Action The sizes of the left and right vanes are not equal, but the motors are same. Select the right one which has a greater area and force to analysis 4. Select the action point in middle of the two vanes, and the arm of the force is 15 cm. The friction coefficient of the steel is 1.2 to 1.4, and 0.02 to 0.05 after lubricated, takes the friction coefficient of 0.05.The curves are not smooth seen from Fig.7 and Fig.8, as the high frequency component coupling to them analyzed mathematically, which were considered to be vibration in actual. It is also discovered that the vane has a phenomenon of vibration, which meet with the simulated data when testing. The vibration has a relation to the stress, nature of material, rigidity of material, osculating curve of rigid body, friction coefficient and so on. It is inferred from the simulation analysis that the bigger stress the smaller vibration. Make sure the contact surfaces are smooth when design the curve groove of the vane lever to reduces the nonessential vibration. Fig.9 is the angular velocity when the stress is SOON, the vibration situation can be observed obviously 5.The actual action to the vane from the patient is not constant but increases gradually when the vane turns to the level position nearby. So that, select the larger motor torque as far as possible to prevent overloading.B. lrifluence to Torque from Friction CoefficienttThere are three kinds of restraints altogether in the vane simulation: fixed restraint, hinge restraint and contact restraint. The fixed restraint cannot cause the friction force, but the hinge restraint and the contact restraint can. The hinge to the hinge restraint can be processed as sliding bearing. The friction coefficient of sliding bearing is small. The dynamic friction coefficient of sliding bearings is 3.0xl0-3 and the static friction coefficient is 4 .0 x 10 - 3 Although the contact restraint is also a kind of sliding friction, but it cannot simply processed as sliding bearing, because the contact is complex, and the stress is also big. Fig. 10 represents the contact force when lever axis and curve groove of actuating arm have a stress of SOON, where the biggest can reach 1800N.Fig. 11 and Fig. 12 respectively represent the torque chart in the friction coefficient of 0.07 and 0.31, and the stress of SOON.Compared with Fig. 11 and Fig. 12, it cannot obviously see the changes of the torque, so as the curve. The biggest diversity is that the vibration reduces when friction coefficient is 0.31. The friction coefficient f.I. has not caused the biggest moment of force change obviously, only has a tendency of enlargement, after the process of filter smooth correlative value 6.C. lrifluence toTtorque from Space PositionWhen design the vane, not only consider the actual installment space and the request size, but also need to pay attention to the relations in the space position between the revolution axis of the vane lever and the revolution axis of the actuating arm. Because their positions are not only relating whether the vane can operation normally, but also affects the biggest driving force. Use the coordinates system as Fig. 13 when establish the coordinate. Fig. 14, Fig. 15 and Fig. 16 are the changing graph of biggest torque in VI-452 Volume I 2010 2nd International Conference on Mechanical and Electronics Engineering (ICMEE 2010) different space position 7. And the stress is SOON, friction coefficient is 0.03.Comparing the data in the different condition may see that the time and the biggest torque have changed remarkably. And the movement time is the smallest in condition 3, so as the force moment. In the condition 2, the lever arm separated from the drive shaft in the moving procession. When actually determine the data, should consider about the motor of torque, size and structure and so on, the best effort may not be the most suitable 8. Through the analysis of dynamics simulation to the vane that: 1) The motor driven torque is small. In the process of simulation analysis, exerted 500N force to the vane and calculates the biggest torque of the motor is 25Nm, but actually the torque is 18Nm, therefore present the phenomenon of the vane asthenia when raising. Here takes 500N force, it is only the average action size in the normal condition. When actual use, possibly bigger than 500 N, so that it must be considered that the motor should have a sufficient remainder actuation torque to satisfY the request under the dissimilar condition. 2) The influence of the friction coefficient is not big to the torque. Under the condition of constant action, its indicated that the friction coefficient has a very small influence to the torque, through takes different friction coefficient to calculate the biggest torque. 3) The space position of the rotation axis has a bigger influence to the torque, the condition 1 and 3 have a difference of 1 ONm, and the movement time also changing.V. CONCLUSION Discussed the influence factors include the driving torque action, friction coefficient, space position and so on by the dynamics and the kinematics analysis to the vane of the nursing bed, which improved the theory basis to the design of the structure, and provided the science basis to the performance evaluation analysis of the bed. This bed may also increase the network communication function to the system, which will cause it to be able to transmit the information automatically to the superior machine, and realizing the long-distance patient care monitor.ReferenceI Fang Jinbo, Chen Hong. The Challenges to Nurses Work from Aging Populations, Journal of International Nursing. vol. 3, Feb. 2004,pp.147-149. 2 Zheng Jiaorong. ADAMS-Getting Started with Virtual Prototyping Technology and Improve. Beijing: Mechanical Industry Publishing House. 2002. I 3 Peng Qibo, Li Haiyang. Modeling and Simulation of Robot Maoipulator Based on Virtual Prototyping Technology, Journal of East China University of Science aod Technology, vol. 33, Jun. 2007, pp.58-62. 4 Jin Xin, what Yulin aod Liu Hua. The Wind-driven Generator Coupled Oscillation Analyzes, Journal of Vibration aod Shock, vol. 26,Jun.2007,pp.144-147. 5 Liu Jun, Lin Lizong, Liu Xiaoping aod Waog Gaog. ADAMS Flexible Body Movement Simulation Analytical Study and Utilization, Modem Maoufacture Project, vol. 5, May. 2004, pp. 53-55. 6 Dong Ligaog, Chen Weihai aod Zhang Jianbin. Kinematic Analysis aod Simulation for Hybrid Type Cable-driven Maoipulator, Journal of System Simulation, vol. 19, Sep. 2007, pp. 4007-4011. 7 Waog Yeo Development of Control System for Multifunction Nursing-bed, Control & Automation, vol. 22, Jul. 2006, pp. 117- 119. 8 Jiaog Hao, Waog Wei, Liu Yongping. The Study on the Multifunctional Nursing Bed, Manufacturing Automation, vol. 31, Jun. 2009,pp. 71-73.摘 要本研究开发了一种新型的多功能护理床，可实现床上左右转弯、排便等功能，供临床使用。并利用ADAMS分析了旋转板受力、接触副摩擦力和空间位置对电机转矩的影响。通过对主机构模型的动力学分析，可以得到主机构的曲线和扭矩的影响，这对选择合适的电机和安装结构具有重要的指导作用。关键词：护理床、Adams、虚拟样机、动态分析多功能护理床的机构设计与仿真分析李宗林、宋章、胡兴隆机械与动力工程学院华东理工大学，上海1引言病床作为医疗设备的一部分，是医院护理的必备品，已广泛应用于医院、疗养院、养老院等诸多领域。然而，优质护理床的价格昂贵，新的研究可以降低成本和护理难度，例如，对于长期卧床的病人，他们的翻身和后撤需要护士有足够的体力。普通床只有头向上、腿弯曲和伸展功能，这种床根据需要增加了翻滚、在床上排便等功能1。2机构设计护理床按结构和功能可分为四部分：床体、控制柜、活动框架、活动便盆。方框图如图1所示。控制柜内设有主控板、电机驱动板、变压器、开关电源等。控制柜通过接线与护理床相连。床体除固定机构外，还包括驱动电机和叶片机构。活动框架装置具有轮子，可与护理床分离。框架内有水箱、可升降的凳子和热风机。移动式便盆还安装了轮子，可以插入活动框架中。此外，控制系统还包括电线操作器、液晶显示器等。系统中有六台直流电机，分别完成了头部的升降、腿部的弯曲、左右转动、叶片的开闭和凳子的升降等动作。A.床功能。床上活动功能包括头的升降、腿的弯曲和床体的两侧，基本满足患者的活动要求，有利于患者改善血液循环，防止褥疮的发生。本护理床设计了符合人体运动特点的腿部屈曲。床体侧弯可分为三种运动：左侧至臀部、右侧至臀部和平坦一侧。图2、图3、图4是床体的三个运动。B.护理功能排便功能在其他特别适合瘫痪病人的电动护理床上很少见。床体中间有一个矩形开口，正常情况下只能看到两个叶片。排便时，风向标向下开，排便装置上升。排便完毕后，风向标继续向上翻，填补空隙。排便器由活动架和活动床盘组成，活动床盘可插入机架内，整个机架可配合加载床体。护理床还具有喷水、烘干功能。在主动框架中安装了水箱、热风机和电磁阀。水箱有水泵、加热器、温度传感器和水位传感器。在控制器的控制下，可以实现水温的设定、水温的保持和水箱容积的自动增大等功能。长期卧床的病人是这张护理床的主要接受者。大便前，按遥控器上的“大便升高”键，两个叶片打开，然后大便升高，大便板自动竖起，以便盆为准。这些动作完成后，病人可以大便。排便完毕后，按相应键，先进行冲洗，然后采用热风干燥，体现了人的护理功能。冲洗用水保存在罐内，用加热丝保持温度。为了实现对温度的控制，需要对温度进行采集和处理，采集由传感器完成，过程和控制由单片机完成。由于病人的排便时间不确定，要求保持体温不变，目的是暂时提供适当的体温。3系统建模A.造型护理床是一个非常复杂的结构，它由床体的机械部件、活动框架、移动式床盘、电子控制系统和电机驱动系统的结构和功能组成。图5是叶片的几何建模图2。i右旋转板2右旋转板杠杆3右旋转板驱动臂4右旋转板电机5左旋转板电机6左旋转板驱动臂7左旋转板杠杆8左旋转板9旋转板门轴图6转盘杠杆及驱动臂I转盘杠杆2转盘驱动臂b.接触副处理图6是叶片杠杆和执行臂的几何建模图。其中一个叶片杆的轴端与叶片固定，另一端具有曲线槽。叶片执行臂两侧为圆轴，轴中心平行。一轴与电机连接固定，另一轴与曲线槽配合形成接触。电机使执行臂反转，实现叶片的启闭。4仿真分析叶片动力学仿真的目的是分析不同工况下对转矩的影响，指导改进设计，选择合适的驱动电机3。左右叶片的尺寸不相等，但电机相同。选择面积和分析力较大的右侧区域4。选择两个叶片中间的作用点，力臂为15cm。钢的摩擦系数为1.21.4，润滑后为0.020.05，摩擦系数取0.05。从图7和图8可以看出，这些曲线并不平滑，因为对它们的高频分量