資源目錄里展示的全都有預(yù)覽可以查看的噢，，下載就有,,請(qǐng)放心下載，原稿可自行編輯修改=【QQ：11970985 可咨詢交流】====================喜歡就充值下載吧。。。資源目錄里展示的全都有，，下載后全都有,,請(qǐng)放心下載，原稿可自行編輯修改=【QQ：197216396 可咨詢交流】==================== 腳踝康復(fù)機(jī)構(gòu)的設(shè)計(jì) 摘要 康復(fù)訓(xùn)練機(jī)器人的主要功能是幫助患者完成各種運(yùn)動(dòng)功能的恢復(fù)訓(xùn)練，該類(lèi)產(chǎn)品有行走訓(xùn)練、手臂運(yùn)動(dòng)訓(xùn)練、脊椎運(yùn)動(dòng)訓(xùn)練等。康復(fù)機(jī)器人有兩種：輔助型康復(fù)機(jī)器人和康復(fù)訓(xùn)練機(jī)器人。輔助型康復(fù)機(jī)器人主要是幫助肢體運(yùn)動(dòng)有困難的患者完成各種動(dòng)作，該類(lèi)產(chǎn)品有機(jī)器人輪椅、機(jī)器人護(hù)士、機(jī)器人假肢、機(jī)械外骨骼等。 康復(fù)機(jī)器人是康復(fù)醫(yī)學(xué)和機(jī)器人技術(shù)的完美結(jié)合，康復(fù)機(jī)器人技術(shù)在歐美等國(guó)家得到了科研工作者和醫(yī)療機(jī)構(gòu)的普遍重視，許多研究機(jī)構(gòu)都開(kāi)展了有關(guān)的研究工作，近年來(lái)取得了一些有價(jià)值的成果。對(duì)于中風(fēng)、偏癱、下肢運(yùn)動(dòng)機(jī)能損傷等患者來(lái)說(shuō)，腳踝康復(fù)機(jī)構(gòu)有著很好的治療效果。從踝關(guān)節(jié)康復(fù)理論分析可知，踝關(guān)節(jié)共涉及伸屈、內(nèi)外翻、內(nèi)外旋三個(gè)自由度，最主要的是伸屈、內(nèi)外翻兩個(gè)自由度，也是決定患者是否康復(fù)的最主要的兩種運(yùn)動(dòng)。而現(xiàn)存的踝關(guān)節(jié)康復(fù)機(jī)構(gòu)，大多只能鍛煉踝關(guān)節(jié)伸屈這一個(gè)自由度，不利于患者的全面康復(fù)。 從圖中可知，第一種方案，用一對(duì)大錐齒輪完成傳動(dòng)，第二種方案，用一對(duì)直齒輪和一對(duì)小錐齒輪代替一對(duì)大的錐齒輪。綜合比較利弊，擇優(yōu)選擇，最終決定選用第二種傳動(dòng)方案，以減小空間尺寸，減輕機(jī)構(gòu)重量。 關(guān)鍵詞：康復(fù)訓(xùn)練機(jī)器人，錐齒輪，腳踝康復(fù)機(jī)構(gòu) ABSTRACT The main function of rehabilitation training robot is to help patients complete recovery training various motor function, these products have a walking training, sports training arm, spine sports training. There are two rehabilitation robot: robot-assisted rehabilitation and rehabilitation robots. Robot-assisted rehabilitation is to help patients with limb movement difficult to complete a variety of actions, such products are wheelchair robots, robot nurses, prosthetic robot, mechanical exoskeleton like. Rehabilitation robot is the perfect combination of medical rehabilitation and robotics, rehabilitation robotics in Europe and other countries have received widespread attention researchers and medical institutions, many research institutions have carried out relevant research work in recent years has made some valuable results. For patients with stroke, paralysis, lower limb motor function injury, the ankle rehabilitation agencies have a very good therapeutic effect. The two most important from ankle rehabilitation theory analysis, involving a total of ankle flexion, varus, internal and external rotation three degrees of freedom, the most important is flexion, varus two degrees of freedom, in determining whether the patient rehabilitation movement. The existing ankle rehabilitation institutions, most of them only ankle flexion exercise a degree of freedom that is not conducive to a comprehensive rehabilitation of patients. From the figure, the first option, with a pair of bevel gear transmission is completed, the second solution, using a pair of spur gear and a pair of small bevel gear instead of a pair of bevel gears. Comprehensive comparison of the pros and cons, choose the best, and ultimately decided to use the second transmission scheme to reduce the size of the space, reduce body weight. Keywords: rehabilitation robotics, bevel gear, ankle rehabilitation agencies 目 錄 第1章 緒論 1 1.1 國(guó)內(nèi)外研究現(xiàn)狀 1 1.2 本課題研究的內(nèi)容及方法 1 1.2.1主要的研究?jī)?nèi)容 1 1.2.2設(shè)計(jì)要求 1 第2章 腳踝康復(fù)機(jī)構(gòu)方案的設(shè)計(jì) 3 第3章 踝關(guān)節(jié)康復(fù)機(jī)構(gòu)的結(jié)構(gòu)設(shè)計(jì) 6 3.1電機(jī)驅(qū)動(dòng)和減速器的選擇 6 3.1.1踝關(guān)節(jié)運(yùn)動(dòng)角度和擺動(dòng)速度 6 3.1.2電機(jī)、減速器的選擇 6 3.2設(shè)計(jì)系統(tǒng)尺寸 9 3.2.1確定腳踏板和框架尺寸 9 3.2.2確定傳動(dòng)方桿尺寸 10 3.2.3確定系統(tǒng)的尺寸圖 10 3.3 齒輪設(shè)計(jì)與計(jì)算 11 3.4 軸的設(shè)計(jì)與計(jì)算 20 3.4.1 輸入軸的設(shè)計(jì)與計(jì)算 20 3.4.2 中間軸的設(shè)計(jì)與計(jì)算 22 3.4.3 輸出軸的設(shè)計(jì)與計(jì)算 25 3.5 軸承的校核 27 3.5.1 輸入軸上軸承壽命計(jì)算 27 3.5.2 中間軸上軸承壽命計(jì)算 28 3.5.3 輸出軸上軸承壽命計(jì)算 29 3.6 鍵的選擇和校核 31 3.6.1 鍵的選擇 31 3.6.2 鍵的校核 31 第4章 機(jī)架的設(shè)計(jì) 32 4.1對(duì)機(jī)架結(jié)構(gòu)的基本要求 32 4.2機(jī)架的結(jié)構(gòu) 33 4.3橫梁設(shè)計(jì) 34 4.4機(jī)架的基本尺寸的確定 34 4.5主要梁的強(qiáng)度校核 34 結(jié)論 37 參考文獻(xiàn) 38 致 謝 39 3