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多功能医用护理床的结构设计及优化【带solidworks三维】【5张CAD图纸】

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关键词：: 多功能医用护理床结构设计优化 solidworks三维 cad图纸

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多功能医用护理床的结构设计及优化

60页 22000字)+说明书+外文翻译+开题报告+solidworks三维+5张CAD图纸

A0总装配.DWG

A1床上框架.DWG

A1床下框架.DWG

A2侧翻（左边）.DWG

A3抬背.DWG

solidworks三维图

外文翻译--机器人化多功能护理床研究与探讨.doc

多功能医用护理床的结构设计及优化开题报告.doc

多功能医用护理床的结构设计及优化说明书.doc

控制系统图.pdf

摘要

多功能医用护理床是一种针对危重病人和瘫痪病人的特殊需要而设计的，能随意调节床的背部和脚部的角度。即使不能自理者，护理人员也可通过床边的控制器进行操作，减少照顾病、残患者的劳动强度。本文针对上述情况，提出了一种新型的多功能医用护理床，采用三维数字化设计软件soliderworks对其进行建模和装配，然后导出到CAD进行修改。利用机械分析软件ADAMS对其进行运动学及动力学分析，研究了床板在各种运动状况下的角加速度对患者舒适度的影响及线性推杆在各姿态下的受力状况，并利用ADAMS提供的优化功能对其分别进行了运动学和动力学优化；以角加速度最大值的最小化作为优化目标函数进行运动学优化，以线性推杆受力的最大值最小化作为动力学优化目标函数，得到满足设计要求的机构参数。采用力学理论分别对多功能医用护理床的主要零件进行力学计算，保证了机构运动的安全性及稳定性。控制系统采用单片机控制，通过单片机控制，实现各个机构的运动，安装传感器来控制机构所转过的角度。利用单片机为主的控制系统，达到控制要求。

关键词：多功能医用护理床，干涉检验，运动学优化，动力学优化，控制系统Multifunction Nursing-bed is designed for those critically ill patients and the special needs of paralyzed patients designed bed is able to adjust the angle of the back and feet. Even if we can not take care of themselves, the nursing staff can also be operated bedside controller to reduce the care of sick and disabled patients with the labor intensity. In this paper, the above situation, a new type of multi-functional medical care beds, the use of digital three-dimensional design software for modeling and soliderworks its assembly, then export to CAD and correct it. the mechanical analysis software ADAMS kinematics and dynamics of its analysis, research of the bed board in the under a wide variety of sports on the angular acceleration of the impact of patient comfort and linear putter in the posture of the force, and provided the use of optimization ADAMS conducted its kinematic and dynamic optimization; to angular acceleration The minimum value of objective function as for kinematic optimization, linear putting maximum stress as a dynamic optimization to minimize the objective function. Have to meet the design requirements of the body parameters. Finite calibration methods of mechanics of materials, respectively, of multi-bed medical care for the mechanical parts of the main check to ensure the safety of the movement and stability. Control system adopts microcomputer control, through MCU control, to achieve the movement of various agencies, to install sensors to control the body turn angle. Use of microcomputer-based control system to control demand.

Key words: Multifunction Nursing-bed, interfere check, kinematics optimization, dynamics optimization, control system

1 绪论1

1.1 课题的目的及意义1

1.2 国内外研究状况及发展趋势1

1.3 本文主要研究内容6

1.4 本章小结6

2 护理床结构的整体方案7

2.1 护理要求7

2.2 护理床的总体方案构思7

2.3 本章小结9

3 护理床的结构设计10

3.1 引言10

3.2 侧翻机构10

3.3 抬背机构11

3.4 曲腿机构13

3.5护理床的三维建模14

3.6 本章小结16

4 护理床运动学优化17

4.1 引言17

4.2侧翻机构的运动学分析17

4.3抬背机构的运动学分析23

4.4曲腿机构的运动学分析26

4.5本章小结29

5 护理床动力学优化30

5.1引言30

5.2侧翻机构动力学分析30

5.3抬背机构动力学分析32

5.4曲腿机构动力学分析34

5.5本章小结36

6 护理床的力学分析37

6.1 引言37

6.2 力学计算37

6.3 本章小结40

7 护理床控制系统设计41

7.1 引言41

7.2 直流电机控制原理41

7.3 控制系统方案41

7.4 控制系统的硬件设计43

7.5 控制系统的软件设计48

7.6 本章小结52

8 结论53

8.1 课题结论53

8.2课题展望53

参考文献54

致谢56

1 绪论

1.1 课题的目的及意义

多功能医用护理床是针对生活不能自理的病人、危重病人和瘫痪病人的特殊需要而设计的，能随意调节床的背部和脚部的角度。即使不能自理者，护理人员也可通过床边的控制器进行操作，减少照顾病、残患者的劳动强度。课题根据国家和上海市中长期发展纲要确定的研究方向和企业的具体需要，设计一种用于医院重症病人用的多功能床，解决病人身体和生理方面的需要（抬背、翻身等），也减轻护理人员的劳动强度。针对市场需求开发设计一种结构简单、工作可靠、使用方便的多功能护理床并进行动态仿真，对于产品的产业化具有重要的意义。

1.2 国内外研究状况及发展趋势

随着社会经济的迅速发展，人民生活水平不断提高，人口寿命不断延长，思想的进步，城市人口正逐步进入老龄化,人口老龄化已成为世界范围内的社会问题。据统计，欧洲发达国家和日本的老年人独居率已高达40%，如此之高的比例迫使社会采取措施解决老年人的护理服务问题。如果完全依靠家庭人工照料，与西方国家子女与老年人分居、家庭规模小型化的观念有抵触之处。我国60 岁及1.3 本文主要研究内容

鉴于人口老龄化的发展、医疗和护理费用的不断增加以及国内外市场需求的不断扩大，本文提出了一种新型的多功能医用护理床，提出几种新型的护理床侧翻机构、抬背机构以及曲腿机构，以单片机为主控制芯片，控制多台直流电机驱动整台护理床工作。实现床面的多种姿态的切换，达到满足护理要求的多功能医用护理床。主要研究内容如下：

(1) 设计各种护理床的运动机构，并用图解法的方法得到初始设计尺寸。

(2) 利用三维设计软件，根据初始设计数据对其建模，进行结构设计，并对其进行干涉检查，然后导出CAD图。

(3) 根据初始设计数据在ADAMS中建模，利用优化功能对其进行运动学和动力学优化仿真，得到优化后的设计数据。

(4) 根据优化数据修改三维模型，并同时检查模型中是否存在干涉，得到满足设计要求的护理床。

(5) 对护理床的主要零件进行受力校核，检验整台护理床使用的安全性及稳定性。

(6) 设计护理床的整体控制方案。设计控制流程框图，用PROTEL软件完成单片机接线图，以及外部接线图，编写单片机主要程序。

1.4 本章小结

本章主要介绍了课题的目的和意义，目前医用护理床在国内外的发展趋势和各类护理床的比较，在多个方面表明了当今多功能医用护理床护理床各个模块的发展情况，最后根据研究分析确定了自己所需完成的研究内容。

2 护理床结构的整体方案

2.1 护理要求

2.1.1 护理床的工作环境

多功能医用护理床多数是应用于病房和家庭居室，室内温度变化不大无需特别考虑，但是需要考虑到环境对噪声的限制，故设计时电机类型及型号的选取应满足工作噪音低于20分贝，床体材料也需要得到考虑，并且在床体上附加一些必要的减震降音材料，如橡胶垫片、弹簧垫圈等。

2.1.2 护理床的位姿和控制要求

护理床应该满足有利于被护理人康复、生活自理所需的各种必要的体位位姿，这些体位位姿包括抬背、侧翻、屈腿等。为了防止褥疮等一系列由于长时间卧床造成血流不畅所引起的并发症，护理床应该能够实现床面的左右侧翻身。对于危重、高度瘫痪等生活上不能自理的病人，在设计时还可以考虑能使病人在床上可以以坐姿或是卧姿排便。同时护理床还应该实现病人的抬腿坐姿体位，以减轻病人由于盘腿坐起时的不舒适感。对护理床的控制方式，可以采用键盘按钮操纵，方便护理人员或病人自己进行控制。

2.2 护理床的总体方案构思

护理床的总体构思包括机械结构设计、电机驱动、传感、控制运动以及总体位姿协调等问题。

2.2.1 构思的提出

通过分析现有的护理床设计，我们很容易发现，为了实现床面某一个特定的体位姿态，传统的设计方法就会设计一套特定的机构与之对应。当位姿数目越来越多时，所需机构数目也随之增加，同时空间体积也随之膨胀。而床体的总体积是有一定限制的，即床体的长、宽、高尺寸必须按照有关护理床标准规定限制在某一个空间范围之内，才能够既满足病人的舒适感的要求又满足空间限制要求。多机构协调的技术是源于模仿人体的运动，人体的运动具有极大的柔性。受此启发将护理床的床面进一步加以细分，成为彼此之间相互独立的12个面板。如图2-1所示。图2-1中，床面板1、床面板2与床面板3对应于人体的背部，床面板4、床面板5和床面板6对应于人体的臀部，人体的腿与脚分别对应于床面板7、床面板8、床面板9和床面板10、床面板11、床面板12。通过各个床面板之间的协调运动，采用单动或联动方式来实现护理床所需的各种体位位姿。

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多功能医用护理床的结构设计及优化.jpg

内容简介：: Robotic nanomanipulation multi-function nursing bed research and discussion Translators XXX Abstract: the humanized design is an important concept of modern design, it emphasizes ergonomics design products, ecology, from the Angle of aesthetics, which reflects the perfect technological people-oriented thoughts. The nursing bed was based on the idea of design, it can not only realize carried back, lift the thigh, curved crus and adjust sitting position, and the function of Pro/E design through 3d entity modeling software is simulated and simulation analysis, further guidance and the rationality of design are verified. To meet the increasing family care requirements, the robot multiaxial coordinated control technique is applied in nursing bed control, developed a multi-function nursing bed robotic nanomanipulation. This nursing bed through each bed panel coordination between the movement, the single move or linkage ways various pose, and through the voice or keyboard to control the movement than appearance. Nursing bed control system consists of master control module and auxiliary control module two parts. One master control module adopts single-chip microcomputer control, such already can reduce costs, and can ensure the nursing bed operation flexibility and reliability; Auxiliary control modules including speech recognition and voice playback two parts function. The actual usage proved was developed nursing bed. This paper the practicability and effectiveness of medical paper nets to share with you! Keywords: robotic nanomanipulation nursing bed; Control system; General cut; speech microcontroller Summary: now, both developed and developing countries are facing more and more serious, the problem of aging population. Old people, the physiological function of degradation due to poor health, generally consumed a lot of medical resources, increase the burden of the hospital. In every country in the world in active seek out new health service mode, providing higher quality, more reliable and more accepting and cheap health services. So the construction of modern distance monitoring system, has the very good prospects for development. This paper studies a community-oriented robotic nanomanipulation based health intelligent monitoring system of multi-function type, of the patients physiological parameters for continuous, long time, automatic, real-time detection, and the analysis and processing after realizing automatic alarm, automatic recording category, but also through the network for remote monitoring medical personnel the timely discovery of the patients progress, at any time to take necessary care and emergency measures. With the rapid development of social economy, the peoples standard of living rises ceaselessly, life expectancy rising longevity, the citys population is gradually entered the aging. According to statistics, in Chinas current population 1.32 billion, aging populations reach, and at an annual growth rate of 3.2%. One empty nester family total of all older family in some big cities, 25 8% in the larger ratio, such as Beijing, Shanghai 34% for 30%, guangzhou 34.8% in yesterday, tianjin for o. the aging of the population of social medical service system put forward higher request, and establish a community as the core of the health monitoring and disease precontrol information system has great practical significance o. elderly because the older, the body gradually reduce active, resistant to disease has decreased, and the disease in chronic diseases primarily. For chronic disease and paralytic character, besides the treatment with drugs and injection, physical way outside the nursing also indispensable. Correct and appropriate care can greatly enhance the patients body activity, reduce the complications of chronic disease. For many produced by regular medication, concerned, proper monitoring and correct nursing, need not hospitalizations. Especially for those who long for a variety of reasons impossible patients treated in hospital, the elderly and disabled people speaking, equipped with necessary nursing equipment and utensils particularly important compared to ordinary people. 瘫痪病, chronic patients, people with disabilities and bed time longer and more long, thus developing a kind of comfortable, nursing complete function, cost-effective nursing bed, will has a broad market prospect? . At present, China is building community on public health service system, if will development of the nursing bed and community, hospital medical system connection, realize medical and nursing, health care, medical treatment, disease precontrol etc integration, can reduce the pressure, more reasonable hospital, effectively use existing resources for hospital 4. Meanwhile, through the hospitals, communities two information system establishment and connections, can greatly improve our public health event to deal with emergency response speed and processing power. In view of this, according to our social medical service development present situation and the practical demand, put forward a kind of multiaxial coordination based robot control techniques and speech recognition technology is muti_function nursing bed concept, successfully developed the robotic nanomanipulation multi-function nursing bed, and on this basis developed based on the nursing bed medical monitoring system of the club. This article mainly discusses the structure of robotic nanomanipulation nursing bed and control system are discussed. Graph one common nursing bed structure 1 robotic nanomanipulation nursing bed structure In the structure of robotic nanomanipulation nursing bed design, the main consideration the following son points: (1) the nursing bed should be able to realize all kinds of the nursing posture pose requirements; (2) all activities of bed panel swing Angle should comply with the medical care for both human comfort; and (3) nursing bed body reliability, stability and safety requirements, should accord with medical care (4) bed body size have certain space limits; (5) to consider nursing bed in the room moving simplicity and medical auxiliary devices (such as hanging liquid frame and book table) in nursing bed f: can be installed sex. The developed machine humanizing nursing bed bed surface structure as shown in figure 1 shows, to realize J, seven basic nursing bed of posture pose demands that a flat, carry back, flexor/leg, SLR, left/right turn, sitting up and solution then, seven panel is independent of each other. Through the coordination between each bed panel, using single movement or movement way to realize nursing bed linkage of all kinds of pose of posture pose. Nursing bed with corresponding bed panel action such as table l.3. Each bed panel swing Angle is as follows: the backplane (posture), o. 10 750; Backplane (left/right emancipated), o. + 65. ; The left/right hip board, O. + 75. ; Thigh board, o. A + 35. ; Crus board, a 55 o + 35. ; Solution will cover and O. A + 90. 2 Robotic nanomanipulation nursing bed of the control system in order to facilitate nursing bed of intelligent control, timely r solution of the current working state nursing bed nursing bed, upon the law to set necessary processes the number of sensors ?. By analyzing the data, sensor transmission control system can real-time understand, control panel of motion, bed of different agencies to prevent the mutual interference or ask to overshoot driven motor bed body, unnecessary casualties caused damage. Control system overall structure as figure2shows. In bed in the control mode pose posture, besides using popular keyboard buttons input methods outside, in order to facilitate the weak and sick, but also increased the speech input mode + operators through the voice commands to manipulate nursing bed. Due to the common types of control chip difficult to complete the voice commands, because the recognition of the nursing bed the control system is divided into two major modules. The first part primarily control module, it consists of a single-chip microcomputer control system structure, used to implement the nursing bed system, including the main control keyboard/voice control commands to accept the position signal and sensor input, and the output motor control signal etc, the second part as auxiliary control module, mainly for voice recognition and playback, it will come from the operators voice control command into electrical signals, then through code conversion, transported to the master control module, and accept the electrical signals to independent control module, will these control instruction convert audio signals of operator can understand. 2.1 robotic nanomanipulation nursing bed master control module master control module at runtime receive signals from the keyboard/speech recognition circuit analysis and processing signal, through, will control signal through external interface conveying to speech playback circuit, signal by voice playback circuit will be transformed into voice signal, provide voice feedback signal, make handlers understand nursing bed real-time dynamic; On the other hand, master control module according to various signal command, control different motor running, so as to realize the lot that users period nursing bed functions? . Master control module mainly include the following each subroutine: (1) keyboard input. The keyboard is nursing bed input control commands by one of the ways the keyboard input, by encoding commands sent to the primary panel by serial. (2) dc motor of the motor control. Nursing bed in accepting the keyboard or speech input signal after, started for the corresponding action to achieve nursing bed. This requires the expected function for installation in the main control panel can the nursing bed eight dc motor both the positive and negative direction of motor control. (3) sensor signal input. Position sensor motor sports location information feedback to control system, control system according to the feedback is returned to the current signal judgment motor sports location and condition, and then calling the corresponding procedure motion control 2.1.1 keyboard control circuit keyboard on the control board for user operation except r equipped with the keys outside, still configuration display the nursing bed the working state of indicator. Considering the keyboard and the communication and the main panel control cPu L / 0 mouths limited resources, so by a separate microcontroller keyboard to treat various task. Because the keyboard (2 x 6) and indicator light (8) required many I / 0 mouths resources, and chooses 89c2051 microcontroller only 15 L / 0 mouths, L/o u resources are limited, therefore in the SCM L / 0 mouths resource allocation, the single-chip computer keyboard panel serial communication between the main control board; Meanwhile, considering control cable is a certain length to increase the reliability of communication, communication, adopt the 232 level, so the hardware circuit MAx232 chips for added a convert. 2.1.2 dc motor level control of the nursing function is nursing bed by dc motor to execute, motor drive nursing bed to complete the various movements, in order to achieve various nursing pose, include: (1) the backplane elevate/drop; (2) left/right turn physique increase/decrease; (3) thigh board increase/decrease; (4) crus board increase/decrease; (5) flat open/close; bedpan (6) lie low postures realize/reset; (7) sitting postures realize/reset; (8) SLR postures realize/reset; (9) bended leg postures realize/reset. Above all appearance conversion between and finish all through eight dc motor FanZhuanLai to realize, so is the main control board must be able to receive commands to eight dc motor after on E reversal, namely can realize motor control negative in nursing bed to electrify control the hardware circuit design, for each motor has adopted two blades double throws on power control. The relay to 2.2 robotic nanomanipulation nursing bed auxiliary control module 2.2.1 speech recognition voice control technology is one of the existing control mode of advanced control mode, it is natural and convenient control mode, good affinity, the characteristics of applicability. Will voice control technology is introduced into the nursing bed under control, will greatly convenient users, particularly in those loss or partly losing activity, ability of self-dependence of patients, voice control and can help them enhance self-confidence, reduce dependence on others, add life courage and confidence in nursing bed users. The characteristics of the speech input commands, used in the study of the beauty of sENsORY company RSc364 little voice chip as recognition core chip. By training and realize Rsc364 chip speech recognition function, system L/o level is TrL level, which can be conveniently and other system for data transmission. Rsc364 chip inside integrated A speech recognition needs A variety of functions, it can complete speech recognition process of anti aliasing low-pass filter, sampling/keep, A/D conversion and voice recording Rsc364 chip in complete functions such as speech recognition task, will voice control signal output to SCM by chip Po and mouth. According to the PSc364 P1, the output state in the Lord with voice recognition chips control by A 74Lsl48 j Duan between expanding in tablet 74Lsl48 fracture, voice command input eight feet of the chip, connect Pl input mouth; Rsc364 Expansion of single chip J Gs meet in P3.2; SCM fracture P1.3 P1. O mouth and speech recognition chips J J 4 Po Po seven connections. When a voice command input, a mouth wipes the P1 output low level, Gs u lose I low-level startup microcontroller external interruption of single chip, the interrupt handlers from P1.0 P1.3 mouth when read people data. Laws 2.2.2 voice playback master control circuit, after receiving orders in control motor running, but also to voice playback son module lose J 【 J voice control signal by auxiliary control module. To the current users provide voice feedback. Speech with the main function modules put the son is: nursing bed receive user commands, in nursing bed function action before the speech information broadcast corresponding action, remind users do physical preparation, this kind of humanized design further improved nursing bed by the affinity of IsD4003_08 chip. Speech playback as the principal chip. IsI) 4003 series work pressure is 3 V, tuen mun recording a single chip 8min for 4 - time?. Chip adopt cMOs technology, containing oscillator, prevent confusion filter, Smoothing filter, audio amplifiers, since the action pixels and high-density multilevel flashing storage arrays, operation orders at through serial communication interface input. 3 robotic nanomanipulation nursing bed nursing bed robotic nanomanipulation control program control mode is a simplified robot control system startup way. After the first test nursing bed, then test each pose, switch state of each key-press test again, if one of the keys pressed nursing bed, then makes the corresponding action and start speech playback program told the operator, through the control speech recognition is like that, if speech recognition module identification, operator a directive, likewise, nursing bed complete corresponding action. 4 closing the robot multiaxial coordinated control technique is applied in nursing bed, may to the robotic nanomanipulation nursing bed. The developed under effective control of the robotic nanomanipulation nursing bed as shown in figure 4 shows, it can achieve more bits of adjustment, and USES the posture voice commands and keyboard input two modes for control, easy and flexible. Moreover, the master control module USES a microcontroller, making the system operation r. flexible reliable, low cost. Currently developed nursing bed has in some hospitals trial, reflect good. Future research will set wipes on how to further improve the flexibility, coordination and system function of human development system, etc. 机器人化多功能护理床研究与探讨翻译人 xxx摘要：人性化设计是现代设计的一个重要理念,它强调在设计产品时从人体工学、生态学、美学等角度达到完美,体现了科技以人为本的思想。该护理床的设计正是基于这种理念,它不仅能够实现抬背、抬大腿,曲小腿和调整坐姿的功能,并将设计通过Pro/E三维实体建模软件进行模拟和仿真分析,进一步指导和验证设计的合理性。为满足目前日益提高的家庭护理要求，将机器人的多轴协调控制技术应用于护理床的控制，研制了一种机器人化的多功能护理床该护理床通过各个床面板之间的协调运动，采用单动或联动方式来实现各种位姿，并通过语音或键盘来控制进行多位姿的运动护理床的控制系统由主控制模块和辅助控制模块两部分构成其中主控制模块采用单片机进行控制，这样既可降低成本，又可保证护理床操作的灵活性和可靠性；辅助控制模块包括语音识别和语音回放两部分的功能实际使用效果证明了所研制的护理床的实用性和有效性本文由医学论文网与您分享！关键词：机器人化护理床；控制系统；语音识剐；单片机概述：目前，无论是发达国家还是发展中国家，均面临着越来越严重的人口老龄化问题。老年人由于各项生理机能退化，健康状况普遍不佳，消耗大量医疗资源，增加了医院的负担。世界各国均在积极探求一种新的健康服务模式，提供更高质量、更可靠、更容易被接受且成本低廉的健康服务。因此现代远程监护系统的构建，具有很好的发展前景。本文研究了一种面向社区的基于机器人化多功能式智能健康监护系统，用来对病人的生理参数进行连续、长时间、自动、实时检测，并经分析、处理后实现多类别自动报警、自动记录，而且可以通过网络远程监护便于医护人员及时发现病人的病情变化，随时采取必要的护理与急救措施。随着社会经济的迅速发展，人民生活水平不断提高，人口寿命不断延长，城市人口正逐步进入老龄化据统计，在我国现有人口中，老龄人口达132亿，并且还在以每年32的速度递增其中空巢家庭占所有老龄家庭总数的25 8，在一些大城市中该比例更大，如北京为34，上海为348，广州为30，天津为365“o人口的老龄化对社会医疗服务体系提出了更高的要求，建立以社区为核心的健康监控和疾病预控信息化系统具有很大的现实意义”o老年人由于年龄偏大，肌体的活性逐渐降低，对疾病的抵抗力日益减弱，且疾病多以慢性病为主对于慢性病人和瘫痪病人而言，除了配合药物和针剂的治疗外，物理方式的护理也必不可少正确、适当的护理可以大大增强患者肌体的活性，减少并发症的产生对于许多慢性病患者而言，通过定期服药、适当监护和正确护理，可以不必长期住院特别是对那些因种种原因不可能长期住院治疗的患者、老年人和残疾人士而言，配置必要的护理设备和用具尤为重要“。相比于普通人，慢性病人、瘫痪病人和残疾人士的卧床时间更长、更久，因此开发一种舒适、护理功能齐全、性价比高的护理床，将具有广阔的市场前景”?目前，我国正着力于建设社区公共卫生服务体系，如果将所开发的护理床与社区、医院医疗体系连接，实现医疗、护理、健康监护、医疗救治、疾病预控等的一体化，可大大减轻医院的压力，更为合理、有效地利用现有的医院资源”4同时，通过医院、社区两种信息化系统的建立和连接，可大大提升我国应对突发性公共卫生事件的响应速度和处理能力有鉴于此，笔者针对我国社会医疗服务的发展现状及现实需求，提出了一种基于机器人多轴协调控制技术和语音识别技术的多功能护理床的概念，成功研制了一种机器人化的多功能护理床，并在此基础上研制了一套基于该护理床的社医监护系统本文主要对该机器人化护理床的结构及控制系统进行探讨图一常用的护理床结构1 机器人化护理床的结构在进行机器人化护理床的结构设计时，主要考虑了以下儿点：(1)护理床应能够实现护理所需的各种体位的位姿要求；(2)各个活动床面板的摆动角度应符合医疗护理要求并兼顾人体的舒适性；(3)护理床床体的可靠性、稳定性和安全性要符合医疗护理要求；(4)床体的尺寸有一定的空间范围限制；(5)要考虑护理床在房间内移动的简易性以及医护辅助装置(如吊液架和书饭桌)在护理床f：的可安装性所研制的机器人化护理床的床面结构如图1所示，它实现J，对护理床的7个基本体位的位姿的要求，即平躺、抬背、屈伸腿、抬腿、左右翻身、坐起以及解便，7个面板是相互独立的通过各个床面板之间的协调运动，采用单动或联动方式来实现护理床所需的各种体位的位姿护理床的位姿与相应的床面板动作如表l所示各床面板的摆动角度如下：背板(坐姿)，o。一十750；背板(左右翻身)，o。+65。；左右臀部板，O。+75。；大腿板，o。一+35。；小腿板，一55 o+35。；解便盖板，O。一+90。2机器人化护理床的控制系统为了便于对护理床进行智能控制，及时r解护理床的当前工作状态，律护理床的脒身上需安置必要数目的传感器”?通过分析传感器传输来的数据，控制系统可以实时了解、控制床面板的运动状态，防止不同机构问的相互干涉或是驱动电机超调对床体、人员造成的不必要伤害控制系统的总体结构如图2所示在床体位姿的控制方式方面，除了采用通行的键盘按钮输入方式外，为了方便体弱病残者，还增加了语音输人方式+操作者可以通过语音命令来操纵护理床由于普通类型的控制芯片难以完成语音命令的识别，冈此将整个护理床的控制系统分为两大模块第一部分为主控制模块，它由一个单片机控制系统构成，用于实现护理床系统的主体控制，包括接受键盘语音控制命令和传感器位置信号的输入，以及输出电机控制信号等，第二部分为辅助控制模块，主要进行语音的识别和回放，它将来自操作者的语音控制命令转化为电信号，然后经过编码转换，输送至主控制模块，同时接受来自主控制模块的电信号，将这些控制指令转换为操作者可以理解的声音信号21 机器人化护理床的主控制模块主控制模块在运行时接收来自键盘语音识别电路的电信号，经过分析处理，将控制信号通过外部接口输送到语音回放电路，由语音回放电路将电信号转化为声音

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