CN105853149A - Cervical traction rehabilitation robot and auxiliary physical therapy assembly thereof - Google Patents
Cervical traction rehabilitation robot and auxiliary physical therapy assembly thereof Download PDFInfo
- Publication number
- CN105853149A CN105853149A CN201610369061.4A CN201610369061A CN105853149A CN 105853149 A CN105853149 A CN 105853149A CN 201610369061 A CN201610369061 A CN 201610369061A CN 105853149 A CN105853149 A CN 105853149A
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- 238000000554 physical therapy Methods 0.000 title claims abstract description 14
- 238000010438 heat treatment Methods 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 201000010099 disease Diseases 0.000 abstract 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract 1
- 208000029761 vertebral disease Diseases 0.000 abstract 1
- 208000027418 Wounds and injury Diseases 0.000 description 8
- 230000006378 damage Effects 0.000 description 6
- 208000014674 injury Diseases 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 208000036319 cervical spondylosis Diseases 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 208000005801 spondylosis Diseases 0.000 description 2
- 208000010392 Bone Fractures Diseases 0.000 description 1
- 206010017076 Fracture Diseases 0.000 description 1
- 206010029333 Neurosis Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 208000015238 neurotic disease Diseases 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 206010041569 spinal fracture Diseases 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 230000000472 traumatic effect Effects 0.000 description 1
- 230000005570 vertical transmission Effects 0.000 description 1
- 210000002517 zygapophyseal joint Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0222—Traction tables
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
- A61H1/0296—Neck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1609—Neck
- A61H2201/1611—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
- A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/04—Devices for specific parts of the body neck
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Neurology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a cervical traction rehabilitation robot and an auxiliary physical therapy assembly thereof. The auxiliary physical therapy assembly is used for performing physical therapy on a patient, provides other auxiliary assisting functions, and comprises a video player, a music player and a heating massaging device, wherein the video player and the music player are mounted on a supporting column, and the heating massaging device is mounted on an adjustable seat. The robot provided by the invention can achieve precise regulation and control on a cervical traction angle, a traction direction and a traction force, can perform comprehensive rehabilitation on patients with cervical vertebra disease, and largely shortens the rehabilitation time of the cervical diseases.
Description
[technical field]
The present invention relates to rehabilitation medical robot field, particularly relate to a kind of vertebrae traction recovering robot and
Attached physical therapy assembly.
[background technology]
Cervical vertebra is the place that in spinal column, mobility is maximum, it is possible to rotate, left and right lateral bending and front and back bending and stretching.Simultaneously
The Facet joint face of cervical vertebra is close to level, so easily there is Dislocation with locked facet.Connect pillow on cervical vertebra simultaneously
Bone, second line of a couplet thoracic vertebra, cervical vertebral body rear is neck marrow, and upper cervical part of esophagus is oblongata, has vital center, is damaged to god
Warp, is in a bad way, can be with threat to life.So the feature of cervical spine injury is: cervical spine injury is susceptible to,
Fracture of cervical vertebra accounts for the 30% of whole spinal fracture, and that can directly jeopardize patient vitals or high paraplegia can
Can property.Cervical vertebra is connected with skull and structure thereof up, when the strength of head and cervical region exceedes its protection structure
During institute's scattered ability of energy, cervical vertebra is by damaged, and in cervical spine injury, the patient of about 40% will have neurosis
Shape, the patient of the traumatic spinal cord injury of about 10% is without the x-ray evidence of obvious spinal cord injury, due to cervical vertebra
Danger is relatively big, also has bigger potentially danger, so correct assessment and and early treatment cervical spine injury
And potential cervical spine injury is extremely important.The most domestic more existing patent for cervical vertebrae recovery therapeutic becomes
Really, and these achievements all have limitation definitely, if the angle of traction is fixed, simulated doctor and treated
Journey scarce capacity, fixing not steadily, dress the most comfortable etc..
[summary of the invention]
Present invention is generally directed in cervical spine injury patient, in conjunction with robotics, kinesiology, human engineering
Learn scheduling theory and carry out Machine Design, propose a kind of there is multiple degrees of freedom training direction, multi-modal training form
Vertebrae traction recovering medical robot.
In order to achieve the above object, the technical scheme that the present invention proposes is as follows:
A kind of vertebrae traction recovering robot, this robot includes supporting seat, pillar, drag rope, traction
Headgear, traction angle adjusting means, adjustable seat, lead adjusting means, soft force control device,
Computer controls and acquisition system；
Described support seat is used for supporting whole robot, and described pillar is vertically fixed on described support seat；
Described traction angle adjusting means is fixed on the top of described pillar, and parallel with described support seat；Described
Traction angle adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the 3rd motor, bracing wire displacement sensing
Device；Described screw mandrel slide unit is fixed on the top of described cross bar, and has the cunning can slided on this screw mandrel slide unit
Block, described 3rd motor is used for pulling this slide block to slide on screw mandrel slide unit；Fixing connection below described slide block
One pulley；The steel cable of described stay wire displacement sensor is connected to described slide block, for detecting the position of slide block
Move；
Described soft force control device includes base, and the first motor fixing on base and decelerator group
Part, the first shaft coupling, torque sensor assembly and line wheel assembly, described base is fixed on described support seat,
First motor exports moment of torsion by decelerator, and first shaft coupling one end connects described decelerator, and the other end connects
Described line wheel assembly, this line wheel assembly is wrapped described drag rope.Described torque sensor assembly is arranged
Between shaft coupling and line wheel assembly, for detection in real time and the size of feedback output moment of torsion；When the first motor
During work, it can rotate by band moving-wire wheel assembly, thus pulling traction rope rope；
Secure two pulleys on described pillar, below described cross bar, secure a pulley, at described line wheels
The drag rope being wound around on part sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then
Through the pulley on slide block, it is eventually connected to described traction headgear；
Described lead adjusting means include the second motor and reducer assemblies, the second shaft coupling, gear-box,
Self-lubricating bearing and rotation platform, the second motor gives the one of described second shaft coupling by decelerator output moment of torsion
End, the other end of the second shaft coupling connects gear-box；Described gear-box is used for realizing horizontal conveyor and passes to vertical
Dynamic commutation, described rotation platform is connected on gear-box by this self-lubricating bearing；When the second motor works
Time, platform can be rotated and realize 360 degree of rotations, described adjustable seat is fixedly mounted on rotation platform
On；
Described computer control with acquisition system respectively with above three motor and stay wire displacement sensor, moment of torsion
Sensor cluster is connected, and can be calculated the angle of traction by the testing result of described stay wire displacement sensor,
Described 3rd motor can be controlled according to the traction angle that doctor is arranged, can be anti-according to described torque sensor assembly
The signal of feedback, controls the output moment of torsion of the first motor, it is achieved the soft control of pull strength；On can actively controlling
State the work of three motors, it is possible to the work process of passive three motors of acquisition and recording, the process that will collect
Archival of information, in database file, can control motor work according to described database file afterwards, thus multiple
Existing cervical traction process.
Further, this robot also includes attached physical therapy assembly, for patient is carried out physical therapy, Yi Jiti
For other attached miscellaneous functions, including video player, music player and heating massage device, video is broadcast
Putting device and music player is arranged on described pillar, heating massage device is arranged on described adjustable seat.
Preferably, the effective travel of described screw mandrel slide unit is 1000mm.
Preferably, the traction angle that described traction angle adjusting means allows is 0 to 60 degree.
The solution have the advantages that: the robot of the present invention can realize cervical traction angle, direction and lead
The control accurate of gravitation size, can carry out omnibearing rehabilitation to cervical spondylosis patient, be greatly shortened
The rehabilitation duration of cervical spondylosis.
[accompanying drawing explanation]
Accompanying drawing described herein is used to provide a further understanding of the present invention, constitutes of the application
Point, but it is not intended that inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 and Fig. 2 is the population structure schematic diagram of the present invention；
The traction angle adjusting means schematic diagram of Tu3Shi robot of the present invention；
The soft force control device schematic diagram of Tu4Shi robot of the present invention；
The drag rope of Tu5Shi robot of the present invention and traction headgear scheme of installation；
The lead adjusting means schematic diagram of Tu6Shi robot of the present invention；
[detailed description of the invention]
The present invention, illustrative examples therein is described in detail below in conjunction with accompanying drawing and specific embodiment
And explanation is only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Seeing accompanying drawing 1-2, the vertebrae traction recovering robot of the present invention includes supporting seat, propping up on population structure
Post, drag rope, traction headgear, traction angle adjusting means, adjustable seat, lead regulation dress
Put, soft force control device, attached physical therapy assembly, computer control and acquisition system.
Described support seat is elongated, is the base of whole robot, is used for supporting whole robot.Described
Pillar is vertically fixed on support seat, on the top of pillar, is fixedly connected horizontally disposed traction angle and adjusts
Regulating device, this traction angle adjusting means is parallel with supporting seat.
Seeing accompanying drawing 3, it illustrates the traction angle adjusting means of robot of the present invention, this traction angle is adjusted
Regulating device includes cross bar, screw mandrel slide unit, the 3rd motor, stay wire displacement sensor, and described cross bar is horizontally disposed with,
At described cross bar described screw mandrel slide unit fixed above, the effective travel of this screw mandrel slide unit is 1000mm, sliding
Block can slide on this screw mandrel slide unit, and described 3rd motor can pull this slide block to slide on screw mandrel slide unit.
A pulley is secured, for through drag rope below described slide block.The steel of described stay wire displacement sensor
Rope is connected to described slide block, and for measuring the displacement of slide block, computer controls with acquisition system by slide block
Displacement just can calculate the angle of traction.Preferably, (i.e. drag rope is to cervical traction for the angle of traction
The angle of power and vertical direction) should be that 0 to 60 degree are advisable.
Seeing accompanying drawing 4, it illustrates the soft force control device of robot of the present invention, described gentle force controls
Device has a base, and this base is fixed on described support seat, base secures the first motor and
Reducer assemblies, the first shaft coupling, torque sensor assembly and line wheel assembly, the first motor and this decelerator
Connect, by decelerator export moment of torsion, described first shaft coupling one end driving member connection reducer, another
End output is connected to line wheel assembly, and this line wheel assembly is wrapped drag rope.Described torque sensor assembly
It is arranged between shaft coupling and line wheel assembly, for detection in real time and the size of feedback output moment of torsion.When first
During motor work, it can rotate by band moving-wire wheel assembly, thus pulling traction rope rope, it is achieved the traction to cervical vertebra.
Computer controls to control the first electricity according to the signal of described torque sensor assembly feedback with acquisition system
The output moment of torsion of machine, it is achieved the soft control of pull strength.
See accompanying drawing 5, it illustrates drag rope and the installation settings of traction headgear.On described pillar admittedly
Determine two pulleys, the cross bar of traction angle adjusting means has also secured a pulley.Take turns at above-mentioned line
The drag rope being wound around on assembly sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, so
Afterwards through the pulley on the slide block of traction angle adjusting means, it is eventually connected to described traction headgear.
Seeing accompanying drawing 6, it illustrates the lead adjusting means of robot of the present invention, this lead is adjusted
Regulating device is also mounted on described support seat.This lead adjusting means includes the second motor and decelerator group
Part, the second shaft coupling, gear-box, self-lubricating bearing and rotation platform.Second motor is exported by decelerator
Moment of torsion, described second shaft coupling one end connection reducer, the other end connects gear-box, can eliminate part axially
Power；Described gear-box is for realizing the horizontal conveyor commutation to vertical-transmission；Described rotation platform is by being somebody's turn to do certainly
Lubrication bearing is connected on gear-box, and this bearing can bear radial force, to ensure that gear-box is not by axial force.
Based on said structure, when the second motor work, platform can be rotated and realize omnibearing 360 degree of rotations
Turn.Described adjustable seat is fixedly mounted on rotation platform, therefore when rotation platform rotates, and scalable
Seat also and then rotates, thus realizes the change of lead.
Described attached physical therapy assembly for carrying out other physical therapy functions, and some other attached auxiliary to patient
Function, it may include video player, music player and heating massage device, video player and music are broadcast
Putting device and may be mounted on pillar, heating massage device may be installed on described adjustable seat.
Described computer control with acquisition system respectively with above three motor and stay wire displacement sensor, torsion
Square sensor cluster is connected, and on the one hand can actively control the motion of three motors, on the other hand can adopt
Collect the exercise data of described three motors and the detection data of two sensors, the archives data collected is arrived
In database file, motor work can be controlled according to described database file afterwards, thus reappear cervical vertebra and lead
It is introduced through journey.
Three motors are controlled to be controlled by man machine operation interface with acquisition system by computer, can complete
To the active Loading Control (the most directly controlling the motion of motor to draw patients with cervical) of three motors, passive
Load information gathers and (is i.e. first actively controlled by doctor, enter the patients with cervical being fixed in robot of the present invention
During row traction, computer controls to record the work process of each motor with acquisition system), to the information gathered
(i.e. the motor process of each motor that reproduction is recorded is to simulate the treatment of doctor to carry out actively reappearing control
Journey).
The work process of the present invention is as follows:
When using the healing robot of the present invention, patient is first sitting on adjustable seat, with fixing on seat
Patient's upper body and waist are fixed by band, then lower jaw and the occipitalia of patient are fixed, by meter with traction headgear
Calculation machine controls and acquisition system, and doctor can arrange traction angle, and computer controls with acquisition system by adjusting
Slide position in traction angle adjusting means, it is achieved the adjustment of traction angle, the then traction of doctor's adjustable
The rotation platform of direction adjusting apparatus, by rotation platform swiveling seat, it is achieved the adjustment of traction,
The soft force control device of last operation, draws cervical vertebra, its Computer control with acquisition system according to
The signal of described torque sensor assembly feedback, controls the output moment of torsion of the first motor, it is achieved pull strength soft
And control.Computer controls to gather the work process of each motor with acquisition system and store data
In library file, after whole process collection storing, according to the information of storage, each motor is led
Dynamic loading, reappears the output of each motor, it is achieved the simulation to medical treatment process.By regulation motor
Loading frequency can regulate the speed of motor output in distraction procedure.When reusing, can be directly according to
The file of storage directly carries out rehabilitation.
The above is only the better embodiment of the present invention, therefore all according to described in present patent application scope
The equivalence that structure, feature and principle are done changes or modifies, in the range of being all included in present patent application.
Claims (3)
1. a vertebrae traction recovering robot, it is characterised in that this robot include support seat, pillar,
Drag rope, traction headgear, traction angle adjusting means, adjustable seat, lead adjusting means,
Soft force control device, computer control and acquisition system, attached physical therapy assembly；
Described support seat is used for supporting whole robot, and described pillar is vertically fixed on described support seat；
Described traction angle adjusting means is fixed on the top of described pillar, and parallel with described support seat；Described
Traction angle adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the 3rd motor, bracing wire displacement sensing
Device；Described screw mandrel slide unit is fixed on the top of described cross bar, and has the cunning can slided on this screw mandrel slide unit
Block, described 3rd motor is used for pulling this slide block to slide on screw mandrel slide unit；Fixing connection below described slide block
One pulley；The steel cable of described stay wire displacement sensor is connected to described slide block, for detecting the position of slide block
Move；
Described soft force control device includes base, and the first motor fixing on base and decelerator group
Part, the first shaft coupling, torque sensor assembly and line wheel assembly, described base is fixed on described support seat,
First motor exports moment of torsion by decelerator, and first shaft coupling one end connects described decelerator, and the other end connects
Described line wheel assembly, this line wheel assembly is wrapped described drag rope.Described torque sensor assembly is arranged
Between shaft coupling and line wheel assembly, for detection in real time and the size of feedback output moment of torsion；When the first motor
During work, it can rotate by band moving-wire wheel assembly, thus pulling traction rope rope；
Secure two pulleys on described pillar, below described cross bar, secure a pulley, at described line wheels
The drag rope being wound around on part sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then
Through the pulley on slide block, it is eventually connected to described traction headgear；
Described lead adjusting means include the second motor and reducer assemblies, the second shaft coupling, gear-box,
Self-lubricating bearing and rotation platform, the second motor gives the one of described second shaft coupling by decelerator output moment of torsion
End, the other end of the second shaft coupling connects gear-box；Described gear-box is used for realizing horizontal conveyor and passes to vertical
Dynamic commutation, described rotation platform is connected on gear-box by this self-lubricating bearing；When the second motor works
Time, platform can be rotated and realize 360 degree of rotations, described adjustable seat is fixedly mounted on rotation platform
On；
Described computer control with acquisition system respectively with above three motor and stay wire displacement sensor, moment of torsion
Sensor cluster is connected, and can be calculated the angle of traction by the testing result of described stay wire displacement sensor,
Described 3rd motor can be controlled according to the traction angle that doctor is arranged, can be anti-according to described torque sensor assembly
The signal of feedback, controls the output moment of torsion of the first motor, it is achieved the soft control of pull strength；On can actively controlling
State the work of three motors, it is possible to the work process of passive three motors of acquisition and recording, the process that will collect
Archival of information, in database file, can control motor work according to described database file afterwards, thus multiple
Existing cervical traction process；
Described attached physical therapy assembly for carrying out physical therapy to patient, and provides other attached miscellaneous functions, including
Video player, music player and heating massage device, video player and music player are arranged on institute
Stating on pillar, heating massage device is arranged on described adjustable seat.
Vertebrae traction recovering robot the most according to claim 1, it is characterised in that described screw mandrel is sliding
The effective travel of platform is 1000mm.
3. according to the vertebrae traction recovering robot described in claim 1-2, it is characterised in that described traction
The traction angle that angle regulator allows is 0 to 60 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610369061.4A CN105853149B (en) | 2016-05-30 | 2016-05-30 | A kind of vertebrae traction recovering robot and its attached physiotherapy component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610369061.4A CN105853149B (en) | 2016-05-30 | 2016-05-30 | A kind of vertebrae traction recovering robot and its attached physiotherapy component |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105853149A true CN105853149A (en) | 2016-08-17 |
| CN105853149B CN105853149B (en) | 2017-11-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112245091A (en) * | 2020-10-30 | 2021-01-22 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112245091A (en) * | 2020-10-30 | 2021-01-22 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
| CN112245091B (en) * | 2020-10-30 | 2023-09-05 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
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