Structural Design and Preliminary Tests of a Novel Patient Transfer Apparatus for Medical Scenarios

Patient transfer has always been a difficult problem, usually requiring multiple caregivers to work together, which is time consuming and can easily cause secondary injuries to the patient. In addition, with the crisis of COVID-19, the issue of patient transfer is even more critical, as caregivers are at a high risk of infection, causing significant damage to healthcare resources. In this paper, a patient transfer assist system named E-pat-plus (Easy Patient Transfer plus) has been proposed; it can assist caregivers in transferring patients, reduce direct contact between them, and avoid secondary injuries. In the mechanical structure of this apparatus, a novel five-gear assembly module and a synchronous belt pulley set are proposed; they are the key points to the basic functional realization of the device and can reduce the cost of the prototype. Furthermore, a fuzzy (proportion-integration-differentiation) PID-based cross-coupling control strategy is applied to the apparatus to ensure the stability and safety of the operation. Finally, some preliminary experiments, including current experiments and error experiments, are carried out to verify the reliability of the device and lay the foundation for clinical tests.

Design and Experiment of the Automatic Laying System for Rice Seedling Tray

In the process of raising rice seedlings, it is necessary to manually place the seedling trays one by one in the seedling field, which is labor intensive and low in efficiency. In order to solve this problem, according to the actual conditions of the rice seedling field, this paper designs and develops an automatic rice tray laying system, which consists of a gantry truss moving unit, a tray laying trolley unit, a tray laying mechanism unit and a sensor control unit. Through the movement and timing coordination of the cams in the laying mechanism unit, four actions of holding, clamping, laying and restoring are designed to realize the orderly and automatic laying of the stacked seedling trays one by one. In order to meet the agronomic requirements of the horizontal and vertical spacing of seeding trays, especially the efficiency of rice tray laying, the control strategies of the key parts of the system were simulated, selected and optimized. For the longitudinal movement of the gantry truss, the cross-coupling control strategy is adopted to realize the detection and compensation correction of the synchronous position error of the two driving motors. As for the drive motor of the laying trolley and the laying mechanism, the optimized master-slave follow-up control method is adopted to improve the efficiency and accuracy. The results of simulation and field experiment show that when the tray trolley moves on the gantry truss at the speed of 7.5 cm/s, the gantry truss moves at the speed of 35 cm/s in the longitudinal direction, and when the height of the tray laying mechanism is 100 mm from the ground and the motor speed is 375 rpm, the horizontal spacing of the tray can be maintained at 25 ± 5 mm and the vertical spacing at 15 ± 5 mm. The efficiency of tray laying can be increased by 35.7%, up to 380 trays/h, meeting the technical requirements of mechanized field tray laying.