20093802图1装置的各个机械部件手指训练的康复机械手设计梁字辉，周宏甫（华南理工大学，广东广州560140）收稿日期：2008－09－13，协助患者完成指骨三个关节的屈伸运动，且三个关节的运动彼此独立。
；设计文献标识码：A文章编号：1009－9492(2009)02－0084－021概述各种神经肌肉紊乱如中风等导致手部偏瘫功能丧失是很常见的，而手部的屈伸运动又是最经常受损的机动功能，这严重影响了患者的个人自理能力，给社会和家庭造成较大负担。
研究表明除必要的药物介入外，适当的运动训练对患者肢体功能的恢复有很大的辅助作用［1］。
机器人装置被引入以协助患者完成运动训练。
康复机器人是工业机器人和医用机器人的结合，最终目标是恢复人体肌体组织的运动功能，实现肌体组织的自然化动作［2］。
从功能上可分为康复训练机器人和辅助型康复机器人，康复训练机器人的主要功能是帮助患者完成各种运动功能恢复训练，如手臂运动训练、行走训练、脊椎训练运动等。
康复机器人技术在欧美国家得到普遍重视［4］。
本文针对手部偏瘫患者设计了一种手部辅助训练装置协助患者完成指骨的屈伸运动。
该装置由电机驱动，可使指骨的三个关节各自独立运动。
2外骨胳康复机械手的体系结构该康复机械手由三个彼此独立的装置组成，三个部分设计基本相同，独立完成指骨一个关节的屈伸运动。
每一部分主要由一对相互啮合的齿轮及其它附属零部件组成。
整个装置的各个组成部分如图1所示。
小齿轮由一个微型主流电机带动，利用齿轮的啮合运动带动大齿轮，大齿轮后方附有一连接臂随大齿轮一起作圆周运动。
连接臂的另一端焊接在一对金属夹棒上，金属加持棒紧贴手指关节末端的上下两侧。
正是加持棒随大齿轮的圆周运动实现手指关节的屈伸运动，电机的正反转动完成手指的屈伸运动，整个装置的装配图如图2所示，为组装后的完整装置。
3外骨胳康复机械手的外骨胳设计整个装置由三个相互独立的关节组成，实现整个手指的屈伸运动。
如图3所示。
图2单个完整装置研究与开发200938024一个手指的运动仿真设定三台电机的工作参数相同，三个关节的协同运动可以实现整个手指的屈伸运动，图4～6是截取了手指关节协同运动下手指的三个不同位置以展示整个装置协同动作的效果，可见足以顺利完成手指的屈伸，协助病人完成相应的康复训练，达到预期的效果。
5总结本文针对手部偏瘫患者设计了一款手部运动康复装置，实现手指关节的屈伸运动，设计紧凑小巧，各环节相互独立，且多数零部件为标准件，既给不同患者较大的选择空间，满足不同患者的需要，同时易于实现大批量生产，且造价低廉，前景广阔。
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研究领域：机械制造及自动化。
(编辑：向飞)图3手指装配图图5屈伸运动位置二图4屈伸运动位置一图6屈伸运动位置三研究与开发Abstracts 09-02-09-02-09-02-09-02-09-02-09-02-09-02-09-02-09-02-8The General Method of Transforming the Old-style Machine Tool by PLC84An Actuated Finger Exoskeleton Design for Hand Rehabilitation86Research of Online Detection System for Asynchronous Motors89The Construction of Optical Fiber Composite Overhead Ground Wire92Analysis of Crack in Boiler Desuperheater Component96Improvement and Analysis on Control Loop of HLD46-WJ-71Hydraulic Turbine98The Improvement of LED Flashlight Spot100The CNC Transformation of X52Vertical Milling Machine103The Ways of Removing the Induced Voltage in the Alternating Controlloop1ZHAN Wen-binAbstract:Key words:LIANG Zi-hui,ZHOU Hong-fuAbstract:Key words:GUO Jun-bo,WANG Feng-tao,WANG Liang Abstract:Key words:JIA Kai-zhouAbstract:Key words:HONG Wen-jian,HU Hua-shengAbstract:Key words:LI Xin-bao,ZHOU Wen-qiang,ZHANG Dian-dong,WEN Xi-huaAbstract:Key words:DING Cai-pingAbstract:Key words:ZHANG Yi,LOU Jian-yongAbstract:Key words:AN Jiang-bo,YUAN Zhi-qiang,ZHAI Xiao-ming Abstract:Key words:By the example of the transforming of T617 horizontal machine tool,this paper introduces in details about the method of transforming the old-style relay electrical machine tool by PLC and the problems which must be paid attention to in the transformation.PLC;transform;machine tool;electric control systemChronic hand impairment is common following stroke or other diseases,studies show that mass practice of movement is useful to healing.In this paper,a kind of hand rehabilitation for patients with hemiplgia is designed,which can help patients to complete the flexion and extension of the three joints of the index finger,each of the three joints can actuate independently. The device is driven by the micro-motor,and gear is used to achieve the finger’s flexion and extension.reha-robot;finger exoskeleton device;designThis paper describes the principle and the significance of detecting the fault of three phase asynchronous motors,the scheme for the fault detecting is discussed,then the online detecting system based on DAQ card is designed.This system can acquire and process the signals and has a high measuring precision,the demands for detecting motor fault is achieved.asynchronous motors;fault detecting;DAQ cardThis paper mainly introduces the experience of the construction of optical fiber composite overhead ground wire (OPGW),based on the practice,the problems that must be paid attention to in the construction are put forward.OPGW;erecting;tight cable;test;constructionBy observation and analyzing of the failure parts of desuperheater water pipe,the crack and deformation reason is found.The test shows that the excessive thermal stress led to this problem.desuperheater;water pipe;thermal stress;crackThe control loop plays a very important role in the hydraulic turbine distributor.But it has the problems of multiprocessing positions,high manufacturing costs and inconvenient installation and debugging.In view of this situation, two special gate arms are designed instead of using the control loop in the distributor.The operation practice in some hydropower station shows that this method not only simplifies the manufacturing process,but also reduces the manufacturing costs and mechanical faults of the equipment.small hydropower;hydraulic turbine;control loop; design;improvementBecause of the merits of low price,long life-span, small heat rate and stable function,the LED illuminating flashlight is applied broadly,but the utilization rate of illumination intensity is not high.By analyzed the problem in practice,this paper puts forward an improve scheme,and get a good result.LED flashlight;illuminate;spot;effectThis article introduces the technic preparation and vertical lifts milling machine CNC transformation.equipment reconstruction of the The transformation methods the mechanical system,electrical system and the NC system are described in detail.vertical milling machine lifts;NC transformation; technology transformation programmeIn the modern factory,because of increasing of the automation degree,most equipments need centralization of control,the control cable is long,so the induced voltage in the cable will generate easier.This paper takes a contactor fault treatment as an example,analyzes the generation reason of the induced voltage,and gives the methods to eliminate it.induced voltage;cable capacitance;contactor;coil12123 1(Yuedong Senior Technical Schools,Shantou515041, China)(South China University of Technology,Guangzhou560140,China)(Research Institute of Vibration Engineering,Dalian University of Technology, Dalian116024,China)(Xinjiang Huitong Water Conservancy and Electric Power Engineering Construction Co.,Ltd.,UrumQi830000,China)(1.Guangzhou Special Pressure Equipment Inspection and Research Institute,Guangzhou510050,China;2.Guangdong Special Equipment Inspection Institute,Guangzhou 510655,China)(1.Department of Environmental Engineering,North China Institute of Water Conservancy and Hydroelectric Power,Zhengzhou 450011,China;2.Xichuan Management in Stork River Irrigation Area, Nanyang474450,China;3.Xichuan Electric Power Bureau,Nanyang 474450,China)(Guangdong Province Senior Technical School, Boluo516100,China)(1.Zhejiang University of Technology, Hangzhou310000,China; 2.Shangyu vocational education center, Shangyu312300,China)(Henan Zhongyuan Dahua Group Co.,Ltd.,Puyang457004,China)。