肘关节康复机器人说明书

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第1章绪论

摘要

康复机器人主要是帮助人们做一些康复性动作的一类设备，该设备的研发和生

产在很早以前已经被各个国家的科研机构和一些医疗机构进行了开发和研究。其中成

绩最为突出的是我们的邻国日本和一些科技发达的欧美国家。在我们国家的医疗机构，

对于该设备的研发和设计也比较重视，但是由于我们国家受到各个方面因素的影响，

对于康复机器人的研究，起步来说相对于来说比较晚。一些简单的康复机构，不能够

满足现在社会的需求，现在的人们都追求着智能化，互联网化，人工化的方向发展，

需要不断地对设备进行开发和研究。

本文主要是针对于设备在使用时对人体关节的运动方式进行了分析，主要是针

对于人们肘关节康复设计了一款康复机器人，主要是对于一些瘫痪人员或者一些心血

管疾病导致上肢不能活动的残疾人员或者上体受到一些外部损伤造成关节不能活动的

一些人员对其的关节进行康复训练。本文所设计的康复机器人主要是由机架电路控制

部分以及上体的康复医疗器材组成。传动部分主要是由传动轴齿轮，涡轮涡杆，带传

动等形式。康复机器人的外观结构设计紧凑，传动可靠，在设计的过程中秉持着机器

人质量轻，噪声小，外观结构，尺寸较小的特点进行设计。

关键词：康复；肘关节；结构设计；噪音

第1章绪论

ABSTRACT

Rehabilitation robot is a kind of equipment that helps people do some rehabilitative

actions. The research and development and production of this equipment has been

developed and studied by scientific research institutions and some medical institutions in

various countries a long time ago. Among them, Japan, our neighboring country, and some

European and American countries with advanced science and technology have made the

most outstanding achievements. Medical institutions in our country pay more attention to

the R&D and design of this equipment, but due to the influence of various factors in our

country, the research of rehabilitation robot started relatively late. Some simple

rehabilitation institutions can't meet the needs of today's society. Nowadays, people are

pursuing intelligent, Internet-based and artificial development, which requires continuous

development and research of equipment.

This paper mainly analyzes the movement mode of human joints when the

equipment is in use, and designs a rehabilitation robot for people's elbow joint

rehabilitation. It is mainly for some paralyzed people or disabled people whose upper limbs

can't move due to some cardiovascular diseases, or some people whose upper body can't

move due to some external injuries, to carry out rehabilitation training on their joints. The

rehabilitation robot designed in this paper is mainly composed of the frame circuit control

part and the upper rehabilitation medical equipment. The transmission part is mainly

composed of transmission shaft gear, turbine scroll bar, belt transmission and so on. The

rehabilitation robot has compact design and reliable transmission. In the design process, it is

designed with the characteristics of light weight, low noise, small appearance and size.

Key words：rehabilitation；upper limb；structural design；Weight loss; noise.

3
目录
目  录
摘  要......................................................................................................................................................I
ABSTRACT..........................................................................................................................................II
目  录..................................................................................................................................................III
第1章 绪论............................................................................................................................................1
1.1 概述...............................................................................................................................................1
1.2 康复机器人的国内外研究现状...................................................................................................2
1.3 上肢康复机器人系统的发展前景...............................................................................................4
1.4 本课题主要研究内容...................................................................................................................5
第2章 总体结构方案设计....................................................................................................................6
2.1 总体方案设计...............................................................................................................................6
2.2 康复机器人框架造型的设计.......................................................................................................9
2.3 本章小结.......................................................................................................................................9
第3章 元件选择..................................................................................................................................11
3.1 电机选择.....................................................................................................................................11
3.1.1 
电机选择
..............................................................................................................................11
3.2 同步带轮的选择.........................................................................................................................12
3.3 蜗轮蜗杆减速器的选择.............................................................................................................13
3.4 齿轮的选择.................................................................................................................................13
3.5 轴承的选择.................................................................................................................................13
3.6 本章小结.....................................................................................................................................14
第4章 机械机构设计与计算..............................................................................................................15
4.1 蜗轮蜗杆设计.............................................................................................................................15
4.1.1 
选择材料
..............................................................................................................................15
4.1.2 
按齿面接触疲劳强度进行设计
..........................................................................................15
4.1.3 蜗杆与蜗轮的主要参数与几何尺寸......................................................................................16
4.1.4 
校核齿根弯曲疲劳强度
......................................................................................................17
4.1.5 
验算效率
η...........................................................................................................................18
4.2 锥齿轮设计.................................................................................................................................18
4.3 同步轮设计.................................................................................................................................20

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摘要：

I第1章绪论摘要康复机器人主要是帮助人们做一些康复性动作的一类设备，该设备的研发和生产在很早以前已经被各个国家的科研机构和一些医疗机构进行了开发和研究。其中成绩最为突出的是我们的邻国日本和一些科技发达的欧美国家。在我们国家的医疗机构，对于该设备的研发和设计也比较重视，但是由于我们国家受到各个方面因素的影响，对于康复机器人的研究，起步来说相对于来说比较晚。一些简单的康复机构，不能够满足现在社会的需求，现在的人们都追求着智能化，互联网化，人工化的方向发展，需要不断地对设备进行开发和研究。本文主要是针对于设备在使用时对人体关节的运动方式进行了分析，主要是针对于人们肘关节康复设计了一款康复机器人，主要...

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