上肢康复机器人的结构毕业设计

摘要

康复机器人是康复设备的一种类型，康复机器人技术早已广受世界各国科研工作者和医疗机构的普遍重视，其中以欧美和日本的成果最为显著。在我国康复医学工程虽然得到了普遍的重视，但是康复机器人研究仍处于起步阶段，一些简单康复器械远远不能满足市场对智能化、人机工程化康复机器人的需求，有待进一步的研究和发展。

本文从使用的角度对人体上肢的运动原理进行了分析，设计出了一种坐式上肢康复训练机器人，用于心脑血管疾病致瘫或者意外事故所造成上肢损伤的患者作上肢及其相关关节的康复训练。本设计的康复机器人机身是由放置于平台上的机座，两根可伸缩的立柱和上横梁及其手柄组成，并在其各个组成部分上分别装上上肢屈伸机构、前后摆机构、分合机构和手腕旋转机构；各运动机构由单独的电机和减速器驱动，而传动机构的主件分别是传动轴、丝杠螺母副、同步齿形带传动副。

康复机器人的立柱主要采用薄壁套筒，这样既减轻了重量，也使得丝杠螺母副能构得到套筒的固定和定位。整个设计主要要注意的主要问题是减重和减噪，避免整体结构过于庞大笨重。

关键词：康复；上肢；结构设计；减重；噪音

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

目录

摘要 .................................................................................................................................................................. I ABSTRACT . (1)

目录 (2)

第1章绪论 (3)

1.1概述 (3)

1.2康复机器人的国内外研究现状 (4)

1.3上肢康复机器人系统的发展前景 (7)

1.4本课题主要研究内容 (8)

第2章总体结构方案设计 (9)

2.1总体方案设计 (9)

2.2康复机器人框架造型的设计 (12)

2.3本章小结 (13)

第3章伺服元件选择 (14)

3.1电机选择 (14)

3.1.1升降机构电机选择 (14)

3.1.2 前后摆机构电机选择 (15)

3.1.3 分合机构电机选择 (16)

3.1.4手腕转动机构电机的选择 (17)

3.2联轴器选择 (17)

3.3蜗轮蜗杆减速器的选择 (18)

3.4本章小结 (18)

第4章机械机构设计与计算 (19)

4.1丝杠设计 (19)

4.2锥齿轮设计 (20)

4.3同步齿形带设计 (22)

4.4轴设计与校核 (24)

4.5轴承校核 (27)

4.6键选择及校核计算 (28)

4.7本章小结 (29)

结论 (30)

参考文献 (31)

致谢 (33)