CN105853179B - A kind of brain ultrasonic wave massage robot for Neurology - Google Patents
A kind of brain ultrasonic wave massage robot for Neurology Download PDFInfo
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- CN105853179B CN105853179B CN201610324189.9A CN201610324189A CN105853179B CN 105853179 B CN105853179 B CN 105853179B CN 201610324189 A CN201610324189 A CN 201610324189A CN 105853179 B CN105853179 B CN 105853179B
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- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/008—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms using shock waves
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/02—Head
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- 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)
- Percussion Or Vibration Massage (AREA)
Abstract
The present invention relates to a kind of brain ultrasonic wave massage robot for Neurology, including fixed frame, the lower surface of the fixed frame is provided with bottom plate, the lower surface of bottom plate is symmetrically installed with four universal wheels, the present invention arbitrarily can be moved to specified location by four universal wheels below bottom plate, it is easy to operate；Fixed frame includes the fixed station installed in bottom plate upper surface, four support panels are symmetrically welded with the outside of the upper surface of fixed station, the upper end of four support panels is welded with annular round platform, and support panel plays a part of being provided with circular open in the middle part of the annular round platform of support, annular round platform；Operating desk upper surface is uniformly provided with four brain massaging manipulators in the axial direction.The present invention can realize ultrasonic wave brain automatic massage function, have the advantages that massage force is uniform, massage force size is adjustable, massage height adjustable, massage comfort level is high, massage effect is good, in the absence of shake situation, massage stability is good, the scope of application is big and operating efficiency is high.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of brain ultrasonic wave for Neurology massages machine
People.
Background technology
Brain is the major part of central nervous system, in cranial cavity, mainly including brain, diencephalon, cerebellum, brain stem, together
When brain in be also dispersed with many nerve nucleus or nerve center concentrated by nerve cell, and pass through the god of a large amount of uplink and downlink
Through fibre bundle connection brain, cerebellum and spinal cord, morphologically with the contact of nervous centralis each several part be an entirety in function, because
This, a kind of any disease of brain can all have a strong impact on the healthy of people.
Common brain diseases mainly have headache, dizziness, nausea to vomit, extremity numbness, facial paralysis, slobbering, speak
It is unclear, difficult, side limbs of enunciating are weak, shakiness of walking, the disturbance of consciousness, powerless general fatigue, cold perspiration, low-heat and uncomfortable in chest etc.
All it is that main cause is that people do not focus on consciousness to brain caring caused by people day after tomorrow Deng, these diseases；Existing brain
As long as the artificial brain massage of portion's health care mode and automation brain massage two kinds；Artificial brain massage is predominantly by hand to big
Each position of cortex is massaged, and is regained one's strength to brain, to brain diseases, patient plays booster action over the course for the treatment of,
But there is uneven massage force, massage time length, massage effect difference and inefficiency in this artificial brain massaging way
Etc. defect；And existing automation brain massaging way is mainly：The mode of vibrating motor vibration drives massage ball in cerebral cortex
Carry out vibromassage, although realize the function of automation homogeneously kneaded, but there are still massage force size is unadjustable, press
Comfort level of rubbing is small, massage apparatus the course of work occur shake, massage stability it is poor, massage it is highly unadjustable and applicable
The defect such as scope is small.
The content of the invention
In order to solve the above problems, the invention provides a kind of brain ultrasonic wave massage robot for Neurology,
Both the uneven massage force that artificial brain massaging way is present, massage time length, massage effect difference and operating efficiency can have been solved
Low problem, can also solve that the massage force size that existing automation brain massaging way is present is unadjustable, massage height not
It is adjustable, comfort level is small for massage, the difficulties such as shake, massage stability be poor and the scope of application is small occur in the course of work in massage apparatus
Topic, it is possible to achieve ultrasonic wave brain automatic massage function, with massage force is uniform, massage force size is adjustable, massage height adjustable,
Massage that comfort level is high, massage effect is good, in the absence of shake situation, massage stability is good, the scope of application is big and operating efficiency is high
The advantages of there is provided it is a kind of automate brain massage new way.
To achieve these goals, the present invention is realized using following technical scheme：A kind of brain for Neurology
Ultrasonic wave massage robot, including fixed frame, the lower surface of the fixed frame are provided with bottom plate, and the lower surface of bottom plate is symmetrical
Four universal wheels are installed, specified location, operation letter can be arbitrarily moved to by of the invention by four universal wheels below bottom plate
Just；The fixed frame includes being symmetrically welded with four on the outside of the fixed station installed in bottom plate upper surface, the upper surface of fixed station
Support panel, the upper end of four support panels is welded with annular round platform, and support panel plays a part of the annular round platform of support, annular
Circular open is provided with the middle part of round platform；Four L-type supports, four L-types are symmetrically welded with the inside of the upper surface of the fixed station
The upper end of support is provided with erecting bed by screw, and four L-type supports play a part of installing and being fixedly mounted platform, erecting bed
Lower surface is provided with motor by motor cabinet, and the output end of motor is connected by shaft coupling with drive shaft, drive shaft
Lower end by bearing be arranged on fixed station on；The middle part of the drive shaft is provided with drive gear, drive gear point by key
It is not meshed with four lifting side chains, drive shaft turns is driven by motor, drive shaft drives drive gear to rotate, driving
Gear drives four lifting branch chain movements, and the lifting side chain includes the travelling gear being meshed with drive gear, travelling gear
It is arranged on by key on power transmission shaft, the lower end of power transmission shaft is arranged on fixed station by bearing, and the upper end of power transmission shaft is welded with silk
Thick stick, the top of leading screw is arranged on the lower surface of annular round platform by bearing, and the middle part of leading screw is provided with sliding block, sliding block by screw thread
Outer wall on a line slide rail is installed, the outer wall of a line slide rail is arranged on support panel by screw, and No. one is straight
Line slide rail plays the function of limiting slide block movement direction so that what sliding block can be stablized moves in leading screw；Four liftings branch
Four side chains in parallel are separately installed with four sliding block inwalls of chain, the top of four side chains in parallel is provided with operating desk；It is described
Side chain in parallel includes being provided with a hydraulic cylinder by bearing pin between an ear mount being welded on sliding block inwall, an ear mount,
The top of a number hydraulic cylinder is arranged in No. two ear mounts by bearing pin, and No. two ear mounts are arranged on the lower surface of operating desk, an ear
Revolute pair R when prismatic pair P when revolute pair R when seat is rotated, a hydraulic cylinder extension is with the rotation of No. two ear mounts forms RPR
The side chain in parallel of structure, fixed frame, the side chain in parallel and operating desk of four RPR structures form 4-RPR parallel institutions, 4-RPR
Parallel institution has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, passes through four
Lifting side chain drives four side chains in parallel to make elevating movement respectively, and four side chains in parallel drive operating desk elevating movement, so that real
Show brain of the present invention and massaged adjustable for height function, it is adaptable to the patient of different heights, it is applied widely, while by 4-
The advantage of RPR parallel institutions causes the present invention to be protected all the time in lift adjustment massage high process and in brain massage processes
Plateau is held, jitter phenomenon is eliminated, massage stability is high；The operating desk upper surface is uniformly provided with the axial direction
Four brain massaging manipulators.
As a kind of optimal technical scheme of madam of the present invention, the brain massaging manipulator includes being arranged on operating desk upper end
The L-type massage bracket in face, the end of L-type massage bracket is welded with circular massage platform, the inside middle portion edge of circle massage platform
Axis direction is uniformly provided with four No. three hydraulic cylinders, and uniform welding has four in the axial direction in the middle part outside of circle massage platform
Four adjusting rods, the top of four adjusting rods are separately installed with by screw on No. two line slide rails of root, four No. two line slide rails
End and the top of four No. three hydraulic cylinders are installed on the back that arc massages chamber, the inwall of arc massage chamber and are evenly arranged with
One circle ultrasonic wave massage side chain, and the bottom of each ultrasonic wave massage side chain is each perpendicular to the inwall that arc massages chamber.Work as patient
Brain is attached to after the circle ultrasonic wave massage side chain on arc massage chamber, and No. three hydraulic cylinders are started working, No. three hydraulic cylinder bands
Dynamic arc massage chamber or so stretching motion, it is steady with the spaced motion of corresponding No. two line slide rails in adjusting rod that arc massages chamber
Fixed carry out left and right stretching motion, so as to have adjusted ultrasonic wave massage side chain and the tightness of patient's brain, can increase super
The level of comfort of Acoustic massage.
As a kind of optimal technical scheme of madam of the present invention, the ultrasonic wave massage side chain includes being arranged on arc massage chamber
Massage rotary electric machine is vertically installed with by motor cabinet in the middle part of disk on inwall, disk, on the output shaft for massaging rotary electric machine
Massage turntable is installed with, the lower surface of massage turntable is evenly arranged with four No. two spacing slide bars in the axial direction,
The lower end of four No. two spacing slide bars is connected between No. two limit sliding chutes by sliding matching mode, No. two limit sliding chutes welderings
It is connected on disk, massaging rotary electric machine under the spaced motion between four No. two spacing slide bars and No. two limit sliding chutes can be steady
Fixed drive massage turntable is rotated；The massage turntable upper surface is welded with eccentric shaft, and the upper surface of eccentric shaft is welded with
Turntable is massaged, the upper surface for massaging turntable is provided with ultrasonic motor, the output end peace of ultrasonic motor by motor cabinet
Equipped with ultrasonic probe, ultrasonic probe is connected with extraneous supersonic generator, and extraneous supersonic generator can be to ultrasonic wave
Probe sends the massage ultrasonic wave of different frequency, and the massage force of different frequency massage ultrasonic wave is of different sizes, it is achieved thereby that this
The adjustable function of invention massage force size, and because ultrasonic wave sends more stable, so that the massage that patient's brain is subject to
Power is highly uniform.After the tightness of ultrasonic probe and patient's brain is regulated, extraneous supersonic generator is to ultrasound
The massage ultrasonic wave that ripple probe sends suitable frequency starts to be massaged for patient's brain, and now ultrasonic motor is started working,
Ultrasonic motor drives ultrasonic probe slowly to be rotated in patient's brain, and brain is added by way of rotary ultrasonic ripple is massaged
The level of comfort of massage, also increases massage effect, at the same time massages rotary electric machine and also begins to synchronous working, massage rotates electricity
Machine drives the eccentric shaft turns on massage turntable, because eccentric shaft is relative with massaging rotary electric machine for eccentric rotary, so that
Eccentric shaft drives the ultrasonic probe above massage turntable to make the circulatory motion of diameter very little, further increase brain by
The level of comfort rubbed, also further increases massage effect.
Ultrasonic wave massage therapy brain diseases cardinal principle is：The high frequency ultrasound sent by ultrasonic wave is vibrated to promote blood
Liquid, the more preferable Supply Organization of lymph liquid energy, and attract leucocyte actively to be moved to scorching district center, microcirculation disorder is eliminated, is stimulated
Membrane process is worn, metabolic processes are thus strengthened, plays a part of anti-inflammatory, analgesic, detumescence, promotion healing, improves tissue
Regenerative function and regulative mechanism, the present invention be exactly reach physiotherapy brain diseases using the above-mentioned biological physical and chemical effect of ultrasonic wave
Effect.
As a kind of optimal technical scheme of madam of the present invention, the fixed station and operating desk are circular configuration, and fixed
The central axis of platform and the central axis of operating desk coincide, good etc. by the rigidity height and stability of 4-RPR parallel institutions
Advantage can make fixed station and operating desk keeping parallelism all the time, while 4-RPR parallel institutions also function to the massage of rigid support brain
The effect of manipulator so that brain massaging manipulator in height adjustment or carry out ultrasonic wave brain massage processes
In can remain plateau, reduce the float force in motion process, massage stability is high.
As a kind of optimal technical scheme of madam of the present invention, the quantity of the ultrasonic wave massage side chain is at least 12,
Ultrasonic wave massage side chain is more, and better to the massage effect of patient's brain, massage force is more uniform, and massage effect is also better.
During work, the present invention can be arbitrarily moved to specified brain massage position by four universal wheels first below bottom plate,
Then determine that ultrasonic wave massages frequency according to different patient's brain situations, extraneous supersonic generator sends conjunction to ultrasonic probe
The massage ultrasonic wave of suitable frequency, regulates ultrasonic wave massage force, so as to ensure that patient's brain carries out the ultrasonic wave of suitable frequency
Massage, improves the level of comfort of massage, adds massage effect, add operating efficiency, improve the rehabilitation of patient's brain
Speed；Then the height further according to patient's brain determines massage height, and motor is first started working, and motor drives driving
Axle is rotated, and drive shaft drives drive gear to rotate, and drive gear drives four lifting branch chain movements, driving cog by travelling gear
Wheel first drives guide screw movement, and the rotational band movable slider movement of leading screw, sliding block drives simultaneously under the synkinesia of a line slide rail
Join branch chain movement, four side chains in parallel synchronously drive the brain massaging manipulator above operating desk to make elevating movement, when brain is pressed
The manipulator that rubs, which reaches, specifies motor when properly massaging height to be stopped；Massage height proceeds by regulation after regulating
The tightness of patient's brain and ultrasonic probe, the circle ultrasonic wave massage side chain on arc massage chamber is attached to when patient's brain
Afterwards, No. three hydraulic cylinders are started working, and No. three hydraulic cylinders drive arc massage chamber or so stretching motion, and arc massages chamber in regulation
Bar and carry out left and right stretching motion stable under the spaced motion of corresponding No. two line slide rails, so as to have adjusted ultrasonic wave massage
The tightness of side chain and patient's brain, adds the level of comfort of ultrasonic wave massage, when patient's brain and and ultrasonic probe
Between when reaching suitable tightness No. three hydraulic cylinders be stopped；It is automatic that tightness starts brain ultrasonic wave after regulating
Massage, ultrasonic motor is first started working, and ultrasonic motor drives ultrasonic probe slowly to be rotated in patient's brain, passes through rotation
The mode of ultrasonic wave massage adds the level of comfort of brain massage, also increases massage effect, and at the same time massage rotates electricity
Machine also begins to synchronous working, and massage rotary electric machine drives the eccentric shaft turns on massage turntable, due to eccentric shaft it is relative with by
The rotary electric machine that rubs is eccentric rotary, so that eccentric shaft drives the ultrasonic probe above massage turntable to make diameter very little
Circulatory motion, further increases the level of comfort of brain massage, massage effect is also further increased, it is achieved thereby that ultrasonic
The function of the automatic brain massage of ripple；And because the side chain in parallel and operating desk of fixed frame, four RPR structures form 4-RPR simultaneously
Online structure, has that dynamic response is good, rigidity is high, large carrying capacity, stability are good by 4-RPR parallel institutions and kinematic accuracy is high
The advantages of cause the brain massaging manipulator above operating desk in height adjustment or carry out ultrasonic wave brain massaged
Plateau can be remained in journey, the float force in motion process is reduced, stability is high, and massage is added again
Level of comfort, massage effect is also added again.
The beneficial effects of the invention are as follows：
1st, the present invention drives the planetary gears that four travelling gears are moved by drive gear, so as to drive four simultaneously
Connection side chain is stable on sliding block to be moved up and down, and four side chains in parallel drive the brain massaging manipulator above operating desks to lift
Motion, it is achieved thereby that brain of the present invention massages adjustable for height function, it is adaptable to the cervical spondylopathy patient of different heights, the scope of application
Extensively；
2nd, the present invention is by the dynamic response of 4-RPR parallel institutions is good, rigidity is high, large carrying capacity, stability are good and fortune
The advantages of precision is high is moved so that brain massaging manipulator is in height adjustment or progress ultrasonic wave brain was massaged
Plateau can be remained in journey, the float force in motion process is reduced, stability is high, the comfortable journey of massage is added
Degree, improves massage effect；
3rd, the present invention makes ultrasonic probe send the massage ultrasonic wave of different frequency by extraneous supersonic generator, passes through
The brain of different frequency massages ultrasonic wave to realize the adjustable function of massage force of the present invention, and different frequency massages the massage of ultrasonic wave
Power is of different sizes, and because ultrasonic wave sends more stable, so that the massage force that patient's brain is subject to is highly uniform；
4th, the present invention drives ultrasonic probe slowly to rotate and rotated by massaging in patient's brain by ultrasonic motor
Motor drives the ultrasonic probe above massage turntable to make the circulatory motion of diameter very little, passes through brain rotary massage and brain
Circular massage mode adds the level of comfort of brain massage, and it is good to also increase massage effect, realizes the automatic brain of ultrasonic wave
The function of massage；
5th, the massage force of the invention for solving artificial brain massaging way presence is uneven, massage time length, massage effect
Difference and the low problem of operating efficiency, also solve the massage force size that existing automation brain massaging way is present it is unadjustable,
Massage is highly non-adjustable, massage comfort level is small, massage apparatus occurs that shake, massage stability are poor and applicable in the course of work
The problem such as scope is small, realizes ultrasonic wave brain automatic massage function, and with massage force is uniform, massage force size is adjustable, press
Rub that height adjustable, massage comfort level are high, massage effect is good, in the absence of shake situation, massage stability be good, the scope of application is big and
There is provided a kind of new way for automating brain massage for the advantages of operating efficiency is high.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the full sectional view after present invention removal brain massaging manipulator；
Fig. 3 is the structural representation of brain massaging manipulator of the present invention；
Fig. 4 is the full sectional view of brain massaging manipulator of the present invention；
Fig. 5 is Fig. 4 I to partial enlarged drawing；
Fig. 6 is the structural representation that ultrasonic wave of the present invention massages side chain.
Specific embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of brain ultrasonic wave massage robot for Neurology, including fixed frame 1,
The lower surface of the fixed frame 1 is provided with bottom plate 1a, and bottom plate 1a lower surface is symmetrically installed with four universal wheel 1b, passes through bottom
The present invention arbitrarily can be moved to specified location by four universal wheel 1b below plate 1a, easy to operate；The fixed frame 1 includes
Four support panels 12, four are symmetrically welded with the outside of fixed station 11 installed in bottom plate 1a upper surfaces, the upper surface of fixed station 11
The upper end of individual support panel 12 is welded with annular round platform 13, and support panel 12 plays a part of the annular round platform 13 of support, annular circle
The middle part of platform 13 is provided with circular open；Four L-type supports 14, four are symmetrically welded with the inside of the upper surface of the fixed station 11
The upper end of L-type support 14 is provided with erecting bed 15 by screw, and four L-type supports 14 play the work installed and platform 15 is fixedly mounted
Motor 16 is provided with by motor cabinet with the lower surface of, erecting bed 15, the output end of motor 16 by shaft coupling with
Drive shaft 17 is connected, and the lower end of drive shaft 17 is arranged on fixed station 11 by bearing；The middle part of the drive shaft 17 passes through key
Drive gear 18 is installed, drive gear 18 is meshed with four lifting side chains 19, drives and drive by motor 16 respectively
Axle 17 is rotated, and drive shaft 17 drives drive gear 18 to rotate, and drive gear 18 drives four lifting side chains 19 to move, the lifting
Side chain 19 includes the travelling gear 191 being meshed with drive gear 18, and travelling gear 191 is arranged on power transmission shaft 192 by key,
The lower end of power transmission shaft 192 is arranged on fixed station 11 by bearing, and the upper end of power transmission shaft 192 is welded with leading screw 193, leading screw 193
Top the lower surface of annular round platform 13 is arranged on by bearing, the middle part of leading screw 193 is provided with sliding block 194 by screw thread, sliding
A number line slide rail 195 is installed, the outer wall of a line slide rail 195 is arranged on supporting surface by screw on the outer wall of block 194
On plate 12, a line slide rail 195 play limit the direction of motion of sliding block 194 function so that sliding block 194 can stablize in silk
Thick stick 193 is moved；Four side chains 2 in parallel are separately installed with four inwalls of sliding block 194 of four liftings side chain 19, four simultaneously
The top of connection side chain 2 is provided with operating desk 3；The side chain in parallel 2 includes an ear mount 21 being welded on the inwall of sliding block 194,
A hydraulic cylinder 22 is provided with by bearing pin between a number ear mount 21, the top of a hydraulic cylinder 22 is arranged on No. two by bearing pin
In ear mount 23, No. two ear mounts 23 are arranged on the lower surface of operating desk 3, revolute pair R, a hydraulic cylinder when ear mount 21 is rotated
22 it is flexible when revolute pair Rs of prismatic pair P when being rotated with No. two ear mounts 23 form the side chains in parallel 2 of RPR structures, fixed frame
1st, the side chain in parallel 2 and the formation 4-RPR parallel institutions of operating desk 3 of four RPR structures, 4-RPR parallel institutions have dynamic response
The advantages of good, rigidity height, large carrying capacity, good stability and high kinematic accuracy, four are driven respectively by four lifting side chains 19
Individual side chain in parallel 2 makees elevating movement, and four side chains 2 in parallel drive the elevating movement of operating desk 3, it is achieved thereby that brain of the present invention is pressed
Rub adjustable for height function, it is adaptable to the patient of different heights, it is applied widely, while by the advantage of 4-RPR parallel institutions
So that the present invention can remain plateau in lift adjustment massage high process and in brain massage processes, eliminate
Jitter phenomenon, massage stability is high；The upper surface of operating desk 3 is uniformly provided with four brain massage machines in the axial direction
Hand 24.
The brain massaging manipulator 24 includes the L-type massage bracket 241 installed in the upper surface of operating desk 3, L-type massage branch
The end of frame 241 is welded with circular massage platform 242, and the inside middle portion of circle massage platform 242 is uniformly installed in the axial direction
There are four No. three hydraulic cylinders 243, uniform welding there are four No. two straight lines in the axial direction in the middle part outside of circle massage platform 242
Four adjusting rods 245 are separately installed with by screw on slide rail 244, four No. two line slide rails 244, four adjusting rods 245
Top and the top of four No. three hydraulic cylinders 243 are installed in the back that arc massages chamber 246, and arc massages the inwall of chamber 246
On be evenly arranged with circle ultrasonic wave massage side chain 247, and each ultrasonic wave massage side chain 247 bottom be each perpendicular to arc by
Rub the inwall of chamber 246.After patient's brain is attached to circle ultrasonic wave massage side chain 247 on arc massage chamber 246, No. three liquid
Cylinder pressure 243 is started working, and No. three hydraulic cylinders 243 drive the arc massage stretching motion of chamber 246 or so, and arc is massaged chamber 246 and adjusted
Pole 245 and carry out left and right stretching motion stable under the spaced motion of corresponding No. two line slide rails 244, so as to have adjusted super
The tightness of Acoustic massage side chain 247 and patient's brain, can increase the level of comfort of ultrasonic wave massage.
The ultrasonic wave massage side chain 247 includes the disk 2471 being arranged on the arc massage inwall of chamber 246, disk 2471
Middle part is vertically installed with massage rotary electric machine 2472, the output shaft for massaging rotary electric machine 2472 by motor cabinet and is installed with
Turntable 2473 is massaged, the lower surface of massage turntable 2473 is evenly arranged with four No. two spacing slide bars in the axial direction
2474, the lower end of four No. two spacing slide bars 2474 is connected between No. two limit sliding chutes 2475 by sliding matching mode,
No. two limit sliding chutes 2475 are welded on disk 2471, between four No. two spacing slide bars 2474 and No. two limit sliding chutes 2475
Spaced motion under massage rotary electric machine 2472 can stablize drive massage turntable 2473 rotate；The massage turntable
2473 upper surfaces are welded with eccentric shaft 2476, and the upper surface of eccentric shaft 2476 is welded with massage turntable 2477, massages turntable
2477 upper surface is provided with ultrasonic motor 2478 by motor cabinet, and the output end of ultrasonic motor 2478 is provided with ultrasonic wave
Probe 2479, ultrasonic probe 2479 is connected with extraneous supersonic generator, and extraneous supersonic generator can be visited to ultrasonic wave
First 2479 send the massage ultrasonic wave of different frequency, and the massage force of different frequency massage ultrasonic wave is of different sizes, it is achieved thereby that
The adjustable function of massage force size of the present invention, and because ultrasonic wave sends more stable so that patient's brain be subject to by
Power of rubbing is highly uniform.After the tightness of ultrasonic probe 2479 and patient's brain is regulated, extraneous supersonic generator
The massage ultrasonic wave for sending suitable frequency to ultrasonic probe 2479 starts to be massaged for patient's brain, now ultrasonic motor
2478 start working, and ultrasonic motor 2478 drives ultrasonic probe 2479 slowly to be rotated in patient's brain, passes through rotary ultrasonic
The mode of ripple massage adds the level of comfort of brain massage, also increases massage effect, at the same time massages rotary electric machine
2472 also begin to synchronous working, and massage rotary electric machine 2472 drives the eccentric shaft 2476 on massage turntable 2473 to rotate, due to
Eccentric shaft 2476 is relative with massaging rotary electric machine 2472 for eccentric rotary, so that eccentric shaft 2476 drives massage turntable
The ultrasonic probe 2479 of 2477 tops makees the circulatory motion of diameter very little, further increases the level of comfort of brain massage,
Also massage effect is further increased.
Ultrasonic wave massage therapy brain diseases cardinal principle is：The high frequency ultrasound sent by ultrasonic wave is vibrated to promote blood
Liquid, the more preferable Supply Organization of lymph liquid energy, and attract leucocyte actively to be moved to scorching district center, microcirculation disorder is eliminated, is stimulated
Membrane process is worn, metabolic processes are thus strengthened, plays a part of anti-inflammatory, analgesic, detumescence, promotion healing, improves tissue
Regenerative function and regulative mechanism, the present invention be exactly reach physiotherapy brain diseases using the above-mentioned biological physical and chemical effect of ultrasonic wave
Effect.
The fixed station 11 and operating desk 3 are circular configuration, and the center of the central axis and operating desk 3 of fixed station 11
Axis coincides, by the rigidity of 4-RPR parallel institutions is high and can make fixed station 11 all the time with grasping the advantages of good stability
Make the keeping parallelism of platform 3, while 4-RPR parallel institutions also function to the effect of rigid support brain massaging manipulator 24, so that
Brain massaging manipulator 24 is in height adjustment or carries out to remain steady in ultrasonic wave brain massage processes
State, reduces the float force in motion process, and massage stability is high.
The quantity of the ultrasonic wave massage side chain 247 is at least 12, ultrasonic wave massage side chain more than 247, to patient
The massage effect of brain is better, and massage force is more uniform, and massage effect is also better.
During work, the present invention can be arbitrarily moved to specified brain and massage position by four universal wheel 1b below bottom plate 1a first
Put, then determine that ultrasonic wave massages frequency according to different patient's brain situations, extraneous supersonic generator is to ultrasonic probe
2479 send the massage ultrasonic wave of suitable frequency, regulate ultrasonic wave massage force, so as to ensure that patient's brain carries out suitable frequency
The ultrasonic wave massage of rate, improves the level of comfort of massage, adds massage effect, add operating efficiency, improve patient
The rehabilitation speed of brain；Then the height further according to patient's brain determines massage height, and motor 16 is first started working, and is driven
Motor 16 drives drive shaft 17 to rotate, and drive shaft 17 drives drive gear 18 to rotate, and drive gear 18 passes through the band of travelling gear 191
Dynamic four liftings side chain 19 is moved, and travelling gear 191 first drives leading screw 193 to move, and the rotational band movable slider 194 of leading screw 193 is moved
Dynamic, sliding block 194 drives side chain 2 in parallel to move under the synkinesia of a line slide rail 195, four timing belts of side chain 2 in parallel
The brain massaging manipulator 24 of the dynamic top of operating desk 3 makees elevating movement, and suitable massage is specified when brain massaging manipulator 24 reaches
Motor 16 is stopped during height；Massage height proceeds by regulation patient's brain and ultrasonic probe after regulating
2479 tightness, after patient's brain is attached to circle ultrasonic wave massage side chain 247 on arc massage chamber 246, No. three
Hydraulic cylinder 243 is started working, and No. three hydraulic cylinders 243 drive the arc massage stretching motion of chamber 246 or so, and arc massage chamber 246 exists
Adjusting rod 245 and carry out left and right stretching motion stable under the spaced motion of corresponding No. two line slide rails 244, so as to have adjusted
Ultrasonic wave massages the tightness of side chain 247 and patient's brain, adds the level of comfort of ultrasonic wave massage, when patient's brain with
No. three hydraulic cylinders 243 are stopped when suitable tightness is reached between ultrasonic probe 2479；Tightness regulates it
After start brain ultrasonic wave automatic massage, ultrasonic motor 2478 is first started working, ultrasonic motor 2478 drive ultrasonic wave visit
First 2479 are slowly rotated in patient's brain, and the level of comfort of brain massage is added by way of rotary ultrasonic ripple is massaged,
Massage effect is added, rotary electric machine 2472 is at the same time massaged and also begins to synchronous working, massage rotary electric machine 2472, which drives, to be pressed
The eccentric shaft 2476 rubbed on turntable 2473 is rotated, and is turned because eccentric shaft 2476 is relative with massage rotary electric machine 2472 to be eccentric
It is dynamic, so that eccentric shaft 2476 drives the ultrasonic probe 2479 of the top of massage turntable 2477 to make the annular fortune of diameter very little
It is dynamic, the level of comfort of brain massage is further increased, massage effect is also further increased, it is achieved thereby that ultrasonic wave is automatic
The function of brain massage；And because the side chain in parallel 2 and operating desk 3 of fixed frame 1, four RPR structures form 4-RPR parallel machines
Structure, has that dynamic response is good, rigidity is high, large carrying capacity, stability are good by 4-RPR parallel institutions and kinematic accuracy height etc. is excellent
Point causes the brain massaging manipulator 24 of the top of operating desk 3 in height adjustment or carries out ultrasonic wave brain massage processes
In can remain plateau, reduce the float force in motion process, stability is high, and massage is added again
Level of comfort, also adds massage effect again, therefore the present invention solves the massage force that artificial brain massaging way is present
Uneven, massage time length, massage effect difference and the low problem of operating efficiency, also solve existing automation brain massaging way
The massage force size of presence is unadjustable, massaging highly non-adjustable, massage comfort level, small, massage apparatus occurs in the course of work
Shake, massage stability difference and the problem such as the scope of application is small, have reached purpose.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the simply explanation present invention of the description in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (4)
1. a kind of brain ultrasonic wave massage robot for Neurology, it is characterised in that：It is described including fixed frame (1)
The lower surface of fixed frame (1) is provided with bottom plate (1a), and the lower surface of bottom plate (1a) is symmetrically installed with four universal wheels (1b)；Institute
Stating fixed frame (1) is included on the outside of the fixed station (11) installed in bottom plate (1a) upper surface, the upper surface of fixed station (11) symmetrically
Four support panels (12) are welded with, the upper end of four support panels (12) is welded with annular round platform (13), annular round platform (13)
Middle part be provided with circular open；Four L-type supports (14), four are symmetrically welded with the inside of the upper surface of the fixed station (11)
The upper end of L-type support (14) is provided with erecting bed (15) by screw, and the lower surface of erecting bed (15) is provided with by motor cabinet
Motor (16), the output end of motor (16) is connected by shaft coupling with drive shaft (17), the lower end of drive shaft (17)
It is arranged on by bearing on fixed station (11)；The middle part of the drive shaft (17) is provided with drive gear (18) by key, driving
Gear (18) is meshed with four lifting side chains (19) respectively, and the lifting side chain (19) includes being meshed with drive gear (18)
Travelling gear (191), travelling gear (191) by key be arranged on power transmission shaft (192) on, the lower end of power transmission shaft (192) passes through
Bearing is arranged on fixed station (11), and the upper end of power transmission shaft (192) is welded with leading screw (193), and the top of leading screw (193) passes through axle
Hold installed in the lower surface of annular round platform (13), the middle part of leading screw (193) is provided with sliding block (194), sliding block (194) by screw thread
Outer wall on a line slide rail (195) is installed, the outer wall of a line slide rail (195) is arranged on support panel by screw
(12) on；Four side chains (2) in parallel, four are separately installed with four sliding block (194) inwalls of four lifting side chains (19)
The top of individual side chain in parallel (2) is provided with operating desk (3)；Operating desk (3) upper surface is uniformly provided with four in the axial direction
Individual brain massaging manipulator (24)；
The brain massaging manipulator (24) includes the L-type massage bracket (241) installed in operating desk (3) upper surface, L-type massage
The end of support (241) is welded with circular massage platform (242), and the inside middle portion of circle massage platform (242) is in the axial direction
Uniform to be provided with four No. three hydraulic cylinders (243), uniform welding has in the axial direction in the middle part outside of circle massage platform (242)
Four adjusting rods are separately installed with by screw on four No. two line slide rails (244), four No. two line slide rails (244)
(245), the top of four adjusting rods (245) and the top of four No. three hydraulic cylinders (243) are installed in arc massage chamber (246)
Back, be evenly arranged with circle ultrasonic wave massage side chain (247), and each ultrasonic wave on the inwall of arc massage chamber (246)
The bottom of massage side chain (247) is each perpendicular to the inwall of arc massage chamber (246)；
The ultrasonic wave massage side chain (247) includes the disk (2471) being arranged on arc massage chamber (246) inwall, disk
(2471) middle part is vertically installed with massage rotary electric machine (2472), the output shaft of massage rotary electric machine (2472) by motor cabinet
Massage turntable (2473) is installed with, the lower surface of massage turntable (2473) is evenly arranged with four two in the axial direction
Number spacing slide bar (2474), the lower end of four No. two spacing slide bars (2474) passes through cunning between No. two limit sliding chutes (2475)
Dynamic fit system is connected, and No. two limit sliding chutes (2475) are welded on disk (2471)；Described massage turntable (2473) upper end
Face is welded with eccentric shaft (2476), and the upper surface of eccentric shaft (2476) is welded with massage turntable (2477), massages turntable
(2477) upper surface is provided with ultrasonic motor (2478) by motor cabinet, and the output end of ultrasonic motor (2478) is provided with
Ultrasonic probe (2479).
2. a kind of brain ultrasonic wave massage robot for Neurology according to claim 1, it is characterised in that：Institute
It is circular configuration to state fixed station (11) and operating desk (3), and the central shaft of the central axis and operating desk (3) of fixed station (11)
Line coincides.
3. a kind of brain ultrasonic wave massage robot for Neurology according to claim 1, it is characterised in that：Institute
State and pass through bearing pin between the ear mount (21) that side chain in parallel (2) includes being welded on sliding block (194) inwall, an ear mount (21)
A number hydraulic cylinder (22) is installed, the top of a hydraulic cylinder (22) is arranged on No. two ear mounts (23) by bearing pin, No. two ears
Seat (23) is arranged on the lower surface of operating desk (3).
4. a kind of brain ultrasonic wave massage robot for Neurology according to claim 1, it is characterised in that：Institute
The quantity for stating ultrasonic wave massage side chain (247) is at least 12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610324189.9A CN105853179B (en) | 2016-05-16 | 2016-05-16 | A kind of brain ultrasonic wave massage robot for Neurology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610324189.9A CN105853179B (en) | 2016-05-16 | 2016-05-16 | A kind of brain ultrasonic wave massage robot for Neurology |
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| CN105853179A CN105853179A (en) | 2016-08-17 |
| CN105853179B true CN105853179B (en) | 2017-11-03 |
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| CN201610324189.9A Expired - Fee Related CN105853179B (en) | 2016-05-16 | 2016-05-16 | A kind of brain ultrasonic wave massage robot for Neurology |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106963596B (en) * | 2017-04-30 | 2019-04-26 | 青岛市市立医院 | A kind of surgery cervical vertebra massager |
| CN108743270B (en) * | 2018-03-10 | 2020-03-31 | 纪震彬 | Row-by-row rotary back massage device |
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| JPH037161A (en) * | 1989-06-05 | 1991-01-14 | Fuji Iryoki:Kk | Massage machine |
| JPH04297259A (en) * | 1990-12-14 | 1992-10-21 | Yamato Kurieiteibu:Kk | Hand massaging apparatus |
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| CN1973807B (en) * | 2006-12-14 | 2011-02-09 | 厦门蒙发利科技（集团）股份有限公司 | Massur core stretching and pushing mechanism |
| CN102014843A (en) * | 2008-04-11 | 2011-04-13 | Gp合资有限公司 | Handpiece for ultrasound treatment of human tissue |
| CN203234994U (en) * | 2013-05-08 | 2013-10-16 | 乔山健康科技股份有限公司 | Massaging machine |
| CN205198407U (en) * | 2015-10-28 | 2016-05-04 | 黄世强 | Massage head and press from both sides tight massage combination thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH037161A (en) * | 1989-06-05 | 1991-01-14 | Fuji Iryoki:Kk | Massage machine |
| JPH04297259A (en) * | 1990-12-14 | 1992-10-21 | Yamato Kurieiteibu:Kk | Hand massaging apparatus |
| KR100533778B1 (en) * | 2005-03-11 | 2005-12-07 | 주식회사 세라젬 | Moving up and down apparatus for a hyperthermo-therapeutic apparatus |
| CN1973807B (en) * | 2006-12-14 | 2011-02-09 | 厦门蒙发利科技（集团）股份有限公司 | Massur core stretching and pushing mechanism |
| CN101224161B (en) * | 2007-12-07 | 2010-07-07 | 厦门蒙发利科技（集团）股份有限公司 | Massager cassette mechanism capable of kneading, lifting and walking |
| CN102014843A (en) * | 2008-04-11 | 2011-04-13 | Gp合资有限公司 | Handpiece for ultrasound treatment of human tissue |
| CN203234994U (en) * | 2013-05-08 | 2013-10-16 | 乔山健康科技股份有限公司 | Massaging machine |
| CN205198407U (en) * | 2015-10-28 | 2016-05-04 | 黄世强 | Massage head and press from both sides tight massage combination thereof |
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| Publication number | Publication date |
|---|---|
| CN105853179A (en) | 2016-08-17 |
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