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黑龍江工程學院學院本科生畢業(yè)設計
摘 要
康復機器人是康復設備的一種類型，康復機器人技術(shù)早已廣受世界各國科研工作者和醫(yī)療機構(gòu)的普遍重視，其中以歐美和日本的成果最為顯著。在我國康復醫(yī)學工程雖然得到了普遍的重視，但是康復機器人研究仍處于起步階段，一些簡單康復器械遠遠不能滿足市場對智能化、人機工程化康復機器人的需求，有待進一步的研究和發(fā)展。
本文從使用的角度對人體上肢的運動原理進行了分析，設計出了一種坐式上肢康復訓練機器人，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關節(jié)的康復訓練。本設計的康復機器人機身是由放置于平臺上的機座，兩根可伸縮的立柱和上橫梁及其手柄組成，并在其各個組成部分上分別裝上上肢屈伸機構(gòu)、前后擺機構(gòu)、分合機構(gòu)和手腕旋轉(zhuǎn)機構(gòu)；各運動機構(gòu)由單獨的電機和減速器驅(qū)動，而傳動機構(gòu)的主件分別是傳動軸、絲杠螺母副、同步齒形帶傳動副。
康復機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。整個設計主要要注意的主要問題是減重和減噪，避免整體結(jié)構(gòu)過于龐大笨重。
關鍵詞：康復；上肢；結(jié)構(gòu)設計；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