Research And Design Of Medical Patient Transfer Robot

At present,in medical institutions both domestically and internationally,the special examination of critically ill inpatients and the transportation work before and after surgery mainly rely on the cooperation of patient families and medical staff through manual relocation.With the intensification of social aging,medical institutions are facing a shortage of medical staff,making patient care more difficult.Especially during hospitalization,the difficulty of transferring patients between different medical examination equipment increases,and the demand for intelligent medical transfer equipment is becoming increasingly strong.In order to reduce the difficulty of nursing,reduce the labor intensity of medical staff,and achieve the transfer of patients between different examination equipment within the hospital(such as hospital beds,operating tables,X-ray detection tables,CT machines,etc.),this article designs a medical patient transfer machine that cooperates with flexible transfer mattresses to safely transfer patients.Firstly,clarify the design requirements for medical patient transfer robots,propose a flexible transfer plan,and determine the overall design plan.Based on the requirements for patient transfer within the hospital and flexible transfer plans,a modular design is carried out for the medical patient transfer robot.According to each functional module,the medical patient transfer robot is divided into: winding tension mechanism,transport mechanical arm,and transfer bed body.The transfer bed body includes transfer bed plate,transfer bed body lifting mechanism,and chassis walking mechanism.Secondly,based on the overall design scheme,the working principles of the winding tension mechanism,the transport robotic arm,and the transport bed lifting mechanism were clarified;A mathematical model of the transport robotic arm was established using the D-H method,and the trajectory planning of the transport robotic arm was carried out using the quintic polynomial interpolation method;A mechanical model of the transport bed lifting mechanism was established based on the principle of virtual displacement,and the thrust to load ratio of the transport bed lifting mechanism was optimized using MATLAB,effectively reducing the driving force of the transport bed lifting mechanism.Once again,the tension value of the winding tension mechanism was analyzed through the tension test of the flexible transfer mattress,and the tension functional components and center of gravity adjustment functional components of the winding tension mechanism were designed in sequence based on the functions of the winding tension mechanism;Based on the mathematical model of the transport robotic arm and the mechanical model of the lifting mechanism of the transport bed,mechanical analysis and parameter design were conducted on the transport robotic arm and the transport bed;The three-dimensional mechanical design software Solidworks was used to model and assemble various mechanisms,and a threedimensional structural model of the medical patient transport robot was built.Then,the overturning stability of the medical patient transfer robot was verified by verifying its overturning torque.Through the ergonomic simulation software Jack,human factors simulation analysis was conducted on the operation process of manual and medical patient transfer robots for patient transfer.The human-machine compatibility of the transfer robot was tested,and human factors optimization design was carried out on the transfer robot,improving the human-machine interaction performance of the medical patient transfer robot.Finally,the safety and stability of the medical patient transfer robot were verified through dynamic simulation analysis of the core mechanism using Adams;Finite element analysis was conducted on key components using ANSYS to verify the mechanical performance of the medical patient transfer robot,providing reference for subsequent structural optimization and overall machining of the transfer robot.