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黑龍江工程學(xué)院學(xué)院本科生畢業(yè)設(shè)計(jì)
摘 要
康復(fù)機(jī)器人是康復(fù)設(shè)備的一種類(lèi)型，康復(fù)機(jī)器人技術(shù)早已廣受世界各國(guó)科研工作者和醫(yī)療機(jī)構(gòu)的普遍重視，其中以歐美和日本的成果最為顯著。在我國(guó)康復(fù)醫(yī)學(xué)工程雖然得到了普遍的重視，但是康復(fù)機(jī)器人研究仍處于起步階段，一些簡(jiǎn)單康復(fù)器械遠(yuǎn)遠(yuǎn)不能滿(mǎn)足市場(chǎng)對(duì)智能化、人機(jī)工程化康復(fù)機(jī)器人的需求，有待進(jìn)一步的研究和發(fā)展。
本文從使用的角度對(duì)人體上肢的運(yùn)動(dòng)原理進(jìn)行了分析，設(shè)計(jì)出了一種坐式上肢康復(fù)訓(xùn)練機(jī)器人，用于心腦血管疾病致癱或者意外事故所造成上肢損傷的患者作上肢及其相關(guān)關(guān)節(jié)的康復(fù)訓(xùn)練。本設(shè)計(jì)的康復(fù)機(jī)器人機(jī)身是由放置于平臺(tái)上的機(jī)座，兩根可伸縮的立柱和上橫梁及其手柄組成，并在其各個(gè)組成部分上分別裝上上肢屈伸機(jī)構(gòu)、前后擺機(jī)構(gòu)、分合機(jī)構(gòu)和手腕旋轉(zhuǎn)機(jī)構(gòu)；各運(yùn)動(dòng)機(jī)構(gòu)由單獨(dú)的電機(jī)和減速器驅(qū)動(dòng)，而傳動(dòng)機(jī)構(gòu)的主件分別是傳動(dòng)軸、絲杠螺母副、同步齒形帶傳動(dòng)副。
康復(fù)機(jī)器人的立柱主要采用薄壁套筒，這樣既減輕了重量，也使得絲杠螺母副能構(gòu)得到套筒的固定和定位。整個(gè)設(shè)計(jì)主要要注意的主要問(wèn)題是減重和減噪，避免整體結(jié)構(gòu)過(guò)于龐大笨重。
關(guān)鍵詞：康復(fù)；上肢；結(jié)構(gòu)設(shè)計(jì)；減重；噪音
II
ABSTRACT
Rehabilitation robot is a type of rehabilitation facilities. Rehabilitation robotics have long been well received by the world scientists and the general importance of medical institutions, in which Europe and the United States and Japan, the results are the most significant. Medical Engineering in our country has been received widespread attention though, and rehabilitation robotics still in its infancy, some simple rehabilitation equipment is far from meeting intelligence, ergonomics of the rehabilitation robot needs to be further research and development.
This perspective on the human body from the use of upper limb movement principle is analyzed，the seated upper extremity rehabilitation robot is designed , for the paralysis caused by cardiovascular diseases or accidents. The design of the rehabilitation robot body is placed on the platform base, two scalable columns and beams of the handle on the composition and its components are installed on the upper limb flexion which include separate and close agency, before and after agency, lifting agency and the wrist rotation agency; the every movement is driven by the separate drive motor and reducer, and the main parts are the shaft, screw nut pairs, timing belt, deputy.
Rehabilitation robot column mainly adopts the thin wall sleeve, so as to reduce weight, also makes the lead screw nut pair can be fixed and the positioning sleeve. The design of the main attention to the major problem is the weight loss and noise reduction, avoid the whole structure is too bulky.
Key words：rehabilitation；upper limb；structural design；Weight loss; noise