便携式膝关节康复智能轮椅结构设计与分析  

Structural Design and Analysis of Portable Intelligent Wheelchair for Knee Rehabilitation

作　　者：马东梅[1] 王景炎 潘黎明[1] 陈晋市 褚天月 黄蕾 殷宝月 徐昕[1] MA Dongmei;WANG Jingyan;PAN Liming;CHEN Jinshi;CHU Tianyue;HUANG Lei;YIN Baoyue;XU Xin(The First Hospital of Jilin University,Changchun,130021;School of Mechanical and Aerospace Engineering,Jilin University,Changchun,130025)

机构地区：[1]吉林大学第一医院,长春市130021 [2]吉林大学机械与航空航天工程学院,长春市130025

出　　处：《中国医疗器械杂志》2024年第4期445-450,共6页Chinese Journal of Medical Instrumentation

基　　金：吉林省科技厅项目“医药健康产业”(20200404206YY);吉林大学第一医院科技成果转化基金(04023670001)。

摘　　要：目的 为解决目前膝关节康复设备便捷性差、医疗成本高、普适性不强等问题,该文设计了一种便携式膝关节康复智能轮椅。方法 通过对膝关节结构与康复机理分析,设计电推杆驱动式康复机构,采用模块化思想设计多功能模块,搭配STM32单片机,实现车体与各功能模块的控制,利用SolidWorks软件建立三维模型,结合Adams和Ansys仿真软件对膝关节康复机构及核心零部件进行运动学与静力学分析。最后,搭建实物样机对实际使用性能进行验证。结果 经实物样机测试得出,膝关节摆杆实际角度为15.1°~88.9°,摆杆角速度为-7.9~8.1°/s,摆杆角加速度为-4.2~1.6°/s~2,电动推杆推力范围为-82.6~153.1 N,载荷踏板最大形变量约为1.7 mm,腿托最大形变约为1.5 mm。结论 膝关节康复式智能轮椅能够满足各项设计功能,实际性能符合设计准则,验证了结构设计的合理性与可行性。Objective In order to address the issues of inconvenience,high medical costs,and lack of universality associated with traditional knee rehabilitation equipment,a portable intelligent wheelchair for knee rehabilitation was designed in this study.Methods Based on the analysis of the knee joint’s structure and rehabilitation mechanisms,an electric pushrod-driven rehabilitation institution was developed.A multi-functional module was designed with a modular approach,and the control of the wheelchair body and each functional module was implemented using an STM32 single-chip microcomputer.A three-dimensional model was established using SolidWorks software.In conjunction with Adams and Ansys simulation software,kinematic and static analyses were conducted on the knee joint rehabilitation institution and its core components.A prototype was constructed to verify the equipment’s actual performance.Results According to the prototype testing,the actual range of motion for the knee joint swing rod is 15.1°~88.9°,the angular speed of the swing rod ranges from-7.9 to 8.1°/s,the angular acceleration of the swing rod varies from-4.2 to 1.6°/s²,the thrust range of the electric pushrod is-82.6 to 153.1 N,and the maximum displacement of the load pedal is approximately 1.7 mm,with the leg support exhibiting a maximum deformation of about 1.5 mm.Conclusion The intelligent knee joint rehabilitation wheelchair meets the designed functions and its actual performance aligns with the design criteria,thus validating the rationality and feasibility of the structural design.

关 键 词：膝关节康复 智能轮椅 控制系统 动力学分析 静力学分析 

分 类 号：R471[医药卫生—护理学] R197.39[医药卫生—临床医学] TH77[机械工程—仪器科学与技术]