Research On Wearable Pneumatic Balanced Handling Assist Robot And Ergonomic Analysis

In the future society,the aging problem of Chinese population will be further aggravated,which will increase the demand of nursing workers to carry patients.At the same time,because of the shortage of manpower in the manufacturing industry,handing work will be difficult to carry out.Manual handing of the elderly or the weight belongs to heavy physical labor,which can not be completed by weak people.It also leads to occupational diseases including physical muscle and bone damage.In order to reduce the intensity of handing work and occupational morbidity,a new wearable handling assistant robot is developed in this paper.A test prototype is produced.Biomechanical analysis and ergonomics experiments are carried out to evaluate the assistant effect of the robot.The main work and achievements are as follows:Firstly,the research status of wearable handling assistant robots is analyzed.It is found that the control system of most robots is complex and lacks the function of bending assistant,which is often used by operators.Complex control systems and sensors make the product expensive and reduce the reliability of the robot.In this paper,a new mechanism design scheme is carried out,which simplifies the control system and adds the function of bending power to make up for the above shortcomings.Secondly,the robot designed in this paper includes mechanical system,control system and pneumatic system.The main structure of the mechanical system is carbon fiber,which combines with 3D printing technology to reduce the overall weight.The mechanical system consists of two random balancing manipulators,a multi axis and single degree of freedom mechanism,a horizontal slide rail and a bracket structure.The control system includes slider sensor,yanhua plate,proportional pressure regulating valve,etc.Because the design of mechanical system can achieve random equilibrium,the control system can be greatly simplified.Users can control the mechanical arm support cylinder and back support cylinder respectively through two slide bar sensors to control the handling process.Pneumatic system includes air pump,portable air pressure source,proportional pressure regulating valve,cylinder,etc.Thirdly,an experimental prototype is manufactured,and then the ergonomics analysis is carried out by combining the operator with the experimental prototype.Ergonomic analysis includes biomechanical analysis,physiological analysis and psychological analysis.Biomechanics analysis establishes the biomechanics model when the worker wears the robot to carry the material,and evaluates the assistant effect of the robot by using the mechanics principle.Psychological analysis evaluates the effectiveness of the robot through the subjective feelings of the subjects in the process of using the robot.Physiological analysis compares the changes of temperature and heart rate of the subjects,and evaluates the influence of the robot on the operators.Finally,carrying experiment of the test prototype is carried out.Firstly,the motion range of the random equilibrium manipulator and the multi axis single degree of freedom mechanism is measured.Then,carrying heavy load experiment and waist power quantitative analysis experiment are carried out.Finally,the experiment of transporting patients is carried out.The results show that the resistance of the manipulator to overcome the horizontal and vertical movement is small under the condition of equilibrium;the multi axis single degree of freedom mechanism on the back can closely fit with the vertebra,and the aid effect is excellent.The results show that the scheme is effective.