柔性穿戴式搬运辅助装备人机工程设计与评价研究

发布时间：2018-04-30 00:10

本文选题：人工物料搬运 + 辅助装备　；参考：《浙江大学》2016年博士论文

【摘要】：尽管自动化设备在物流和制造业中已经广泛应用,人工物料搬运在人们的生产和生活中依然普遍存在,成为导致职业性肌肉骨骼伤害的重要因素。合理使用搬运辅助装备是降低劳动受伤风险、保护劳动者人身安全和提高作业效率的有效手段。随着机械化程度的提高,各类搬运和负重装备已经应用于制造业和其他需求较高的行业如物流、医疗和紧急救援等。在不断追求工作效率的同时,辅助装备的便携性和通用性成为近年来热点研究问题。本文从减轻工作负荷、降低损伤风险需求出发,结合人工搬运生物力学理论基础和人机工程实验,探索不同搬举相位内外部受力模式,制定了针对手部、背部和腿部的力传导辅助策略,以基于薄膜传感技术的鞋内置压力检测系统为人机接口,设计研制了一套柔性穿戴式搬运辅助装备WLCD,并对该装备实际辅助效果进行人机工程评价研究。本文的主要研究内容包括:(1)结合了人工物料搬运生物力学模型和人机工程实验,进行关节运动学与动力学分析、手部施力分析和表面肌电分析,研究了基于人机工程学的人工搬运影响因子,为引入力传导方法制定辅助策略提供了理论和实验依据。(2)研制了基于薄膜压力传感器和关节角度测量的人体运动信息测量系统iPPS,实施基于足底压力分布的步态实验,研究足压信息与关节角度映射关系,引入基因表达式编程算法建立了下肢关节角度预测模型,并依据模型对iPPS传感器排布进行优化,为辅助装备人机和谐控制提供了人机接口和数据支撑。(3)分析了搬运辅助装备用户需求,将“以人为中心”思想作为出发点,人工搬运指导原则作为设计要素,采用重心转移、力量转移和能量转移三种辅助技术,进行辅助状态下人体各关节受力情况分析,制定了辅助装备助力方式和途径。利用Rhino软件进行装备本体结构设计,对所需作动器、功能材料进行参数对比和选型,研制开发了柔性穿戴式搬运辅助装备样机原型。(4)评估了该辅助装备在重复抬举作业、抬举能力实验和持重搬运作业三种作业模式下的辅助效能,融合主客观联动与心理物理学方法进行人机工程评测研究,结果表明搬运辅助装备在一定程度上减低了背部肌肉负荷、氧消耗和心率储备率,同时主观评价显示搬运较重物体时装备具有明显的辅助作用。
[Abstract]:Although automation equipment has been widely used in logistics and manufacturing, artificial material handling is still widespread in people's production and daily life, and has become an important factor leading to occupational musculoskeletal injury. Reasonable use of handling auxiliary equipment is an effective means to reduce the risk of labor injury, to protect the personal safety of workers and to improve the working efficiency. With the increase of mechanization, all kinds of handling and loading equipment have been applied in manufacturing and other industries with high demand, such as logistics, medical treatment and emergency rescue. In pursuit of working efficiency, the portability and versatility of auxiliary equipment has become a hot research issue in recent years. In order to reduce the workload and reduce the risk of injury, combined with the theory of manual transport biomechanics and ergonomics experiments, this paper explores the internal and external stress modes of different lifting phases, and formulates the internal and external stress modes for the hand. The force conduction assistant strategy for the back and legs is based on the in-shoe pressure detection system based on thin film sensing technology as the man-machine interface. A set of flexible wearable handling auxiliary equipment WLCD is designed and developed, and the actual auxiliary effect of the equipment is evaluated by ergonomics. The main research contents of this paper include: (1) combining the biomechanical model of artificial material handling with ergonomics experiments, the kinematics and dynamics analysis of joint, hand force analysis and surface electromyography analysis are carried out. The influence factors of manual handling based on ergonomics are studied. This paper provides a theoretical and experimental basis for introducing force conduction method to formulate auxiliary strategy. A human motion information measurement system, iPPS-based on thin film pressure sensor and joint angle measurement, is developed, and the gait experiment based on plantar pressure distribution is carried out. The relationship between foot pressure information and joint angle mapping is studied. The prediction model of lower limb joint angle is established by introducing gene expression programming algorithm, and the layout of iPPS sensor is optimized according to the model. This paper provides man-machine interface and data support for man-machine harmonious control of auxiliary equipment. It analyzes the user's requirement of handling auxiliary equipment. It takes the idea of "human-centered" as the starting point, the guiding principle of manual handling as the design element, and adopts the center of gravity transfer. Force transfer and energy transfer are three kinds of auxiliary technology, the force condition of every joint of human body is analyzed under auxiliary condition, and the way and method of auxiliary equipment are worked out. The Rhino software is used to design the structure of the equipment body, the parameters of the actuator and the functional material are compared and selected, and the prototype of the flexible wearable handling auxiliary equipment is developed, which is used to evaluate the repeated lifting operation of the auxiliary equipment. The auxiliary effectiveness of lifting capacity experiment and load handling operation is studied by combining subjective and objective linkage with psychophysical methods. The results show that the load of back muscles, oxygen consumption and heart rate reserve rate are reduced to some extent by the moving auxiliary equipment. The subjective evaluation also shows that the equipment has obvious auxiliary effect when moving heavy objects.
【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TB18

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