论文总字数：20904字

摘 要

如今,脑中风是严重危害中老年人身体健康的疾病,发病率有逐年上升的形势^[1]。患者由于这种疾病而导致肢体损坏，甚至偏瘫不能进行正常的行走活动。上肢的偏瘫极为大多数，而且上肢偏瘫更影响患者的正常生活。也有上肢损坏而治愈的案例，就是通过医护人员的辅助康复训练，但是所有的患者基本上都是依靠医护人员的帮助，这样就会医患分配不均无法跟多的满足更多的病人。这时候机器人的诞生便很好的解决了这个问题。机器人的自动化，控制化，科技化在患者与医护之间达到了一个完美的平衡，解放了双手的同时又能快速根据病人的需要对症下药，加速患者的康复时间。

本文从患者的使用角度根据人体的运动关节进行设计，设计出了一种自行车式的主被动上肢康复训练器，用于心脑血管疾病导致瘫痪或意外由于意外事故造成的上肢损伤的患者。此康复器是类似自行车的脚蹬，关键组成是电机、带轮、皮带、手柄。电机带动带轮，带轮带动手柄实行垂直平面的圆环运动；其次是上下运动，利用了丝杠螺母的传动原理进行上下运动，康复器的关键部分是与螺母连接，螺母套在丝杠上，丝杠再与联轴器、电机连接实现上下运动，这样不仅可以锻炼到手环节和腕关节，而且还可以锻炼到肩关节，初期可以先进行垂直平面内的圆环训练，等到患者恢复的差不多了再加上上下运动的肩关节训练。本康复器的传动结构是：丝杠螺母、皮带、带轮、联轴器、轴承。驱动机构是：集成电机。

康复器的机架是由薄壁套筒组成，这样做是为了减轻丝杠的负载和康复器的轻便、经济，而且侧面也减少了大功率电机的选用。负载丝杠的承重架的上下两端也采用三角形减少材料的使用，避免了康复器的笨重。本康复器集经济、轻便，质量于一身，特别适合于患者初期的被动训练。

关键词：康复训练器 丝杠螺母副 主被动训练

Active passive upper limb rehabilitation training device

Abstract

In today's society, stroke is a serious threat to the health of the elderly in the disease, the incidence has increased year by year trend. This disease caused the loss of limb motor function and related complications. Especially the loss of upper limb motor function, greatly affected the ability of patients with daily life. Clinically, the rehabilitation of hemiplegic patients relies heavily on the physician's one-on-one physical therapy. This method is a labor concentration process, not only time-consuming, but also the lack of quantitative and objective evaluation. The development of robot technology and its combination with clinical rehabilitation medicine provides a good opportunity for the study of rehabilitation robot. The use of robots and related technologies to the objective of the training process to monitor and evaluate the improvement of hemiplegia rehabilitation training targeted and scientific, while the treatment of physicians from the heavy manual labor freed, for patients to develop a better rehabilitation program, further Improve the efficiency of rehabilitation.

This article from the perspective of the use of the patient's movement in accordance with the design of the joints, designed a bike-type active and passive upper limb rehabilitation training for cardiovascular and cerebrovascular diseases lead to paralysis or accident due to accidents caused by upper limb injury patients. This rehabilitation device is similar to the bicycle pedal, the key component is the motor, pulley, belt, handle. Motor drive pulley, pulley drive handle to carry out the vertical plane of the ring movement; followed by the upper and lower movement, the use of the screw nut drive principle of the upper and lower movement, the key part of the rehabilitation is connected with the nut, the nut on the screw , Screw and then with the coupling, the motor connection to achieve the upper and lower movement, so that not only can exercise to the hands and wrist joints, but also can exercise to the shoulder joint, the initial can be the first vertical plane ring training, until the patient recovered almost Plus the upper and lower movement of the shoulder training. The transmission structure of the rehabilitation device is: screw nut, belt, pulley, coupling, bearings. The drive mechanism is: integrated motor.

Rehabilitation machine rack is composed of thin-walled sleeve, this is done in order to reduce the load of the screw and the rehabilitation of the light, economical, and the side also reduces the selection of high-power motor. Load the upper and lower ends of the load-bearing frame also use triangles to reduce the use of materials, to avoid the rehabilitation of the cumbersome. The rehabilitation of the economy, light, quality in one, especially for the initial patient's passive training.

Key words：initiative passive upper limb rehabilitation

目录

摘 要 I

Abstract II

第一章 绪论 1

1.1 概述 1

1.2 国内外上肢康复器研究现状 2

1.3主被动康复训练器的发展前景 4

1.4课题研究内容 4

第二章 总体方案及部件结构设计 5

2.1总体方案设计 5

2.2.方案的确定 6

2.3传动机构的设计 8

2.3.1丝杠的设计 8

2.3.2 带轮机皮带的设计 9

2.3.3 轴承的设计 11

2.4机架的设计 13

2.5承重框架的设计 14

2.6整体结构示意图 15

2.7 本章小结 16

第三章 伺服元件的选择 17

3.1电机选择 17

3.1.1训练机架部位电机选择 17

3.1.2 丝杠电机的选择 19

3.2联轴器的选择 21

3.3本章小结 22

第四章 机械结构设计与计算 24

4.1丝杠的计算与校核 24

4.2轴承校核 26

4.3本章小结 28

第五章 控制系统 29

5.1 控制开关电路原理 29

5.2输出电路 30

总结 31

参考文献 32

致谢 34

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