CN112245091A

CN112245091A - Cervical vertebra rehabilitation training auxiliary robot and application method thereof

Info

Publication number: CN112245091A
Application number: CN202011186946.3A
Authority: CN
Inventors: 梁丹; 方宁; 梁冬泰; 陈贤儿; 冯永飞
Original assignee: Ningbo University
Current assignee: Ningbo University
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-01-22
Anticipated expiration: 2040-10-30
Also published as: CN112245091B

Abstract

The invention discloses a cervical vertebra rehabilitation training auxiliary robot and an application method thereof. Adopt novel hydrogel material preparation headgear, because of the compliance of its material, the ability of its plasticity obtains great reinforcing, can improve the comfort level according to the position of the crowd fine setting headgear of difference. The design of the auxiliary traction and adjustment device occupies less space resources, the adjustment mode is flexible and reliable, and the accurate and smooth adjustment and control of the cervical vertebra traction process can be realized. Adopt portable base, increase brake equipment, prevent that the road surface is uneven to cause the phenomenon of skidding, improve the security of using crowd. The cervical vertebra rehabilitation training auxiliary robot has the characteristics of compact structure, flexible movement, reliable control, convenient operation and the like, and can be applied to cervical vertebra rehabilitation nursing in hospitals, families and the like.

Description

Cervical vertebra rehabilitation training auxiliary robot and application method thereof

Technical Field

The invention relates to the technical field of cervical spondylosis rehabilitation, in particular to a cervical vertebra rehabilitation training auxiliary robot and an application method thereof.

Background

Cervical spondylosis is also known as cervical syndrome, is a general name of cervical osteoarthritis, proliferative cervical spondylitis, cervical radicular syndrome and cervical disc herniation, and is a disease based on the change of cervical degenerative pathology. With the development of society, the competition in society is more and more intense, and the pressure on work and study is increased suddenly, so that the incidence of cervical spondylosis is obviously improved. The cervical vertebra rehabilitation robot is a key instrument for treating cervical spondylosis, and has great significance for clinical treatment and improvement of rehabilitation mechanism.

The traditional cervical vertebra rehabilitation training device adopts large-scale mechanical traction equipment, utilizes a manual pressurization mode to drive a traction platform to stretch cervical vertebra, needs a large-scale base and the traction platform, is expensive, inconvenient to operate, easy to rust and not suitable for families. The existing cervical vertebra rehabilitation robot is generally provided with a fixed bed frame, a movable bed board and a movable headrest, wherein the movable headrest has three rotational degrees of freedom, the inclined positions of the head, the lower part and the higher part of the legs are realized through a mechanical hydraulic system, and the cervical vertebra traction is carried out by utilizing the dead weight of the head in the prone position and the supine position respectively. In addition, the existing rehabilitation traction device mostly utilizes mechanisms such as an electric push rod and the like to carry out traction adjustment, is easy to clamp a shell, has low efficiency and needs frequent maintenance; the adjusting device mostly adopts the traditional gear reducer to output torque, and has the problems of poor reliability, small output torque for a long time, small freedom degree of movement and the like. At present, the cervical vertebra traction device has the problems of large volume, complex operation, incapability of flexibly moving, complex transmission and adjustment and the like, and is difficult to meet the household requirements of cervical vertebra rehabilitation patients.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the cervical vertebra rehabilitation training auxiliary robot which has the effects of simple and convenient use mode and comfortable use.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a cervical vertebra rehabilitation training auxiliary robot which characterized in that: comprises a movable base, a backrest matched with the movable base, a head cover module, an auxiliary traction and adjustment device and a control module;

the movable base comprises a brake device, a supporting plate, an electric push rod I, a seat frame, a handrail and a button; the bottom end of the supporting plate is provided with a brake device, the first electric push rod vertically penetrates through the center of the supporting plate, the control module is fixed on the upper side of the supporting plate, the top end of the first electric push rod is fixedly provided with a seat frame, the seat frame is rotatably connected with a backrest, the backrest is fixedly provided with a handrail parallel to the seat frame, and the handrail is provided with a button for adjusting the angle between the backrest and the seat frame;

the head cover module comprises a fixed support, a head cover, a second electric push rod and a first pressure sensor. The upper end of the fixed support is connected with a rope, and the lower end of the fixed support is connected with a joint sleeve. The head cover is used for supporting the head and fixing the position of the head. The electric push rod II is fixed at two ends of the head sleeve, and the pressure sensor I is arranged on the head sleeve and used for detecting the pressure applied to the head sleeve;

the auxiliary traction and adjustment device comprises a traction adjustment module I, a traction adjustment module II, an auxiliary traction mechanism, a support rod I, a support rod II, a support I, a support II and a support III. The first support rod is vertically fixed on the upper left side of the handrail, the second support rod is vertically fixed on the upper right side of the handrail, the first support is fixed on the first support rod and is parallel to the handrail, the second support is fixed on the second support rod and is parallel to the handrail, one end of the third support is connected with the first support, the other end of the third support is connected with the second support and is perpendicular to the handrail, the first traction adjusting module is fixed on the first support, the second traction adjusting module is fixed on the second support, and the auxiliary traction mechanism is fixed on the third support;

the traction adjusting module comprises a motor base, a servo motor, a harmonic reducer, a torque sensor, a connecting shaft, a coupler, a pinion, a first gear supporting seat, a gearwheel, a rotating shaft, a large pulley, a pulley seat, a first rope, a small pulley, a pulley base, a second rope, a guide wheel seat, a third rope and a second gear supporting seat; the motor base is fixed on a first support, the servo motor is fixed on the motor base and is parallel to the first support, the harmonic sensor is connected with the servo motor to form a rotating pair, the torque sensor is fixed on the first support and is connected with a rotating shaft of the servo motor, one end of the connecting shaft is connected with a harmonic reducer, the other end of the connecting shaft is connected with a small gear, the coupling is sleeved on the connecting shaft to form a cylindrical pair, the large gear is meshed with the small gear, the large gear is fixedly connected with the rotating shaft to drive the rotating shaft to rotate, the first gear supporting seat is fixed on the first support and is rotatably connected with the rotating shaft, the second gear supporting seat is fixed on the first support and is rotatably connected with the small gear, the pulley seat is fixed on the first support, the large pulley is installed on the pulley seat and is fixedly connected with, the pulley base is fixed on the first support, and the small pulleys are installed on the pulley base. The guide wheel seat is fixed on the first support, the guide wheel is installed on the guide wheel seat, one end of the rope is connected with the large pulley, the other end of the rope is connected with the small pulley, one end of the rope is connected with the small pulley, the other end of the rope is connected with the guide wheel, one end of the rope is connected with the guide wheel, the other end of the rope is connected with one end, opposite to the first support, of the fixed support in the sleeve module, and the traction adjusting module II and the traction adjusting module I are identical in structure; one end of a rope III in the traction adjusting module II is connected with the guide wheel, and the other end of the rope III is connected with one end, opposite to the bracket II, of the fixed bracket in the joint sleeve module;

the auxiliary traction mechanism comprises a first hinge wheel seat, a first hinge wheel, a guide rail base, a sliding chute, a sliding block, a first spring, a second spring, a wire fixing plate, a third spring, a fourth spring, a push rod motor, a motor fixing seat, a stay wire displacement sensor, a second hinge wheel base, a seventh rope, an eighth rope and a ninth rope; the first hinge wheel seat is fixed on the third support, the first hinge wheel is installed on the first hinge wheel seat, the guide rail base is fixed on the third support, the sliding groove is connected with the guide rail base and is fixed with the third support, the sliding block is connected with the sliding groove in a sliding mode and can do reciprocating linear motion in the sliding groove, one end of the spring is connected with the guide rail base, the other end of the spring is connected with the sliding block, the first spring and the second spring are connected between the sliding block and the left side guide rail base at the same time, and the third spring and the fourth spring are connected between the right side guide rail base; the wire fixing plate is fixed on the sliding block, one end of the push rod is connected with the sliding block, the other end of the push rod is connected with the push rod motor, the push rod motor is fixed on the motor fixing seat, the motor fixing seat is fixed on the third support, the stay wire displacement sensor is fixed on the third support and used for measuring the displacement of the rope eight, the second hinge wheel base is fixed on the third support, the second hinge wheel is installed on the second hinge wheel base, one end of the rope seven is connected with the first hinge wheel, the other end of the rope eight is connected with the second hinge wheel through the wire fixing plate, one end of the rope nine is connected with the second hinge wheel, and the other end of the rope nine is connected with the other end of the fixed support in the sleeve module.

Further, but mobile base still includes brake equipment, brake equipment includes wheel support, guide way, wheel, brake block, brake lever, sliding shaft, spout. The wheel is installed on the wheel support to form a revolute pair, a guide groove is formed in the wheel support, the brake pad is installed in the guide groove, the brake handle is fixed to a rotating shaft of the wheel and connected with the brake pad, a sliding groove is formed in the brake pad, one end of the sliding shaft is fixed to the brake handle, the other end of the sliding shaft is connected to the sliding groove in an inserting mode, and when the brake handle is rotated, the sliding shaft can slide in the sliding groove under the driving of the brake handle.

Further, the backrest comprises an adjusting mechanism, a back plate and a second pressure sensor, the adjusting mechanism is arranged in the seat frame, the adjusting mechanism and the back plate form a revolute pair through a connecting shaft, the back plate is fixed at the upper side of one end of the adjusting mechanism, the second pressure sensor is fixed at the front side of the back plate, is connected with the instruction receiving end of the control module, the adjusting mechanism comprises a clamping rod, a steel cable, a stop block, a spring and a shaft lever, the clamping rod is arranged at the left side in the seat frame, the steel cable is connected with the clamping rod, the other end of the steel cable is connected with the shaft lever, the shaft lever and the back plate are matched to form a cylindrical pair capable of moving axially, the spring is fixed on the steel cable, the stop block is arranged on the steel cable and connected with the spring, when the steel cable rotates along with the shaft lever, the spring stretches and retracts to drive the steel cable to be adjusted to a certain position, and adjustment of different angles of the back plate is achieved.

Furthermore, the control module comprises an information processing control module, the information processing module is fixed on the supporting plate, the information processing module collects signals of the first pressure sensor firstly and processes the signals, the second electric push rod is controlled to move up and down by output signals, then the signals of the second pressure sensor are collected and fed back to the adjusting mechanism, a clamping rod in the adjusting mechanism pushes the steel cable to move so as to drive the shaft rod to rotate, then the signals of the torque sensor are collected and analyzed, the output signals control the servo motor to output torque, flexible control of traction force is achieved, finally the signals of the stay wire displacement sensor are collected, the push rod motor is controlled to adjust the displacement of the cable, and adjustment in different traction directions is achieved.

An application method of a cervical vertebra rehabilitation training auxiliary robot comprises the following steps: the patient sits on the movable base firstly, when the back of the patient contacts the backrest, the second pressure sensor outputs signals to the adjusting mechanism through the information processing module, the clamping rod in the adjusting mechanism is controlled to push the steel cable to move, the shaft lever is further driven to rotate, the inclination angle of the backrest is adjusted, then the lower jaw of the patient is fixed through the headgear module, when the first pressure sensor detects the signals, the signal processing module processes the signals, the second electric push rod is controlled to move up and down, the corresponding auxiliary traction and adjusting device also starts to work, the two traction adjusting modules are respectively connected with a rope, when the information processing module receives the signals of the torque sensor, signals are immediately output to control the servo motor to rotate, so that the pinion is driven to rotate, the pinion is meshed with the gear wheel, the pinion drives the gear wheel to rotate, and the gear wheel drives the pulley to rotate, so that the ropes start to move together and are respectively connected with the two ends of the fixed bracket in the head cover module, used for adjusting the up-down distance of the head cover module, the auxiliary traction mechanism is simultaneously connected with two ropes, when the information processing module receives the signal of the stay wire displacement sensor, the signal is fed back immediately to control the push rod motor to move, thereby driving the sliding block to do reciprocating motion in the chute, because the four springs are arranged in the guide rail base, the sliding block needs to overcome the resistance, therefore, the sliding block can only move slowly in the sliding groove, the auxiliary traction mechanism is also provided with two hinge wheels and a line fixing plate, the rope respectively passes through the hinge wheels and the line fixing plate, the angle fine adjustment of the headgear module is realized by connecting the fixing support with the headgear module, and finally, the detection data of the sensor can be filed in the database file of the information processing module, and then the rehabilitation treatment can be carried out on the patient according to the database file.

The invention has the beneficial effects that:

1. adopt novel hydrogel materials preparation to pull the headgear, electric putter and force transducer constitute drive arrangement, through electric putter and fixed bolster ball pivot, can realize the motion of three degree of freedom, have advantages such as novel material practicality, simple structure are small and exquisite, real-time supervision cervical spondylopathy, can effectively improve cervical spondylopathy.

2. An auxiliary traction and adjustment device is designed, a servo motor, a harmonic reducer, a displacement sensor, a guide wheel, a connecting plate, a flexible rope and the like are adopted to form a differential flexible rope transmission and driving mechanism, the device has the advantages of flexible traction control, less transmission error, stable output torque, reliable control and the like, and the stability and reliability in the rehabilitation treatment process are ensured.

3. Adopt movable base, integrate the design, can realize functions such as automatically regulated seat height and back of the body chair angle, wheel automatic braking, make things convenient for the family to use.

4. The novel auxiliary traction mechanism is designed, the spring, the guide rail, the reel, the push rod motor and the like are adopted to form the reciprocating motion adjusting mechanism, when the sliding block makes reciprocating linear motion in the sliding groove, the spring is used for motion buffering, and the stability and the reliability of the adjusting process are effectively improved.

In conclusion, the invention has the advantages of compact structure, flexible control, stable and reliable adjustment, convenient operation and good treatment effect, and can be widely applied to cervical spondylosis treatment and home rehabilitation nursing.

Drawings

Fig. 1 is an isometric view of the overall construction of the robot of the present invention.

Fig. 2 is a left side view of the overall structure of the robot of the present invention.

FIG. 3 is a front view of the brake apparatus of the robot of the present invention

Fig. 4 is a left side view of the brake apparatus of the robot of the present invention.

Fig. 5 is a partial enlarged view of the brake apparatus of the robot of the present invention.

Fig. 6 is a left side view of the backrest of the robot of the present invention.

Fig. 7 is a front view of an adjusting mechanism of a backrest of the robot of the present invention.

Fig. 8 is a front view of the traction headgear of the robot of the present invention.

Fig. 9 is a front view of the auxiliary traction and adjustment device of the robot of the present invention.

Fig. 10 is a top view of the auxiliary traction and adjustment device of the robot of the present invention.

Fig. 11 is an isometric view of a first traction adjustment module of the robot of the present invention.

Fig. 12 is an isometric view of an auxiliary traction mechanism of the robot of the present invention.

Fig. 13 is a front view of the control module of the robot of the present invention.

In the figure: 1. a movable base; 2. a control module; 3. a backrest; 4. a headgear module; 11. a brake device; 12. a support plate; 13. a seat frame; 14. an electric push rod I; 15. a button; 16. a handrail; 41. fixing a bracket; 42. a second electric push rod; 43. a headgear; 44. a first pressure sensor; 51. a first traction adjusting module; 52. a second traction adjusting module; 53. an auxiliary traction mechanism; 541. a first supporting rod; 542. a second supporting rod; 551. a first bracket; 552. a second bracket; 553. a third bracket; 511. a motor base; 512. a servo motor; 513. a harmonic reducer; 514. a torque sensor; 515. a connecting shaft; 516. a coupling; 517. a pinion gear; 518. a first gear support seat; 519. a bull gear; 5110. a rotating shaft; 5111. a large pulley; 5112. a pulley seat; 5113. a first rope; 5114. a small pulley; 5115. a pulley base; 5116. a second rope; 5117. a guide wheel; 5118. a guide wheel seat; 5119. a third rope; 5120. a second gear support seat; 531. a hinge wheel seat I; 532. a first hinge wheel; 533. a guide rail base; 534. a chute; 535. a slider; 536. a first spring; 537. a second spring; 538. a wire fixing plate; 539. a third spring; 5310. a fourth spring; 5311. a push rod; 5312. a push rod motor; 5313. a motor fixing seat; 5314. a pull wire displacement sensor; 5315. a second hinge wheel; 5316. a second hinge wheel base; 5317. a rope seven; 5318. a rope eight; 5319. a rope nine; 112. a support; 113. a guide groove; 111. a wheel; 114. a brake pad; 115. a brake handle; 116. a sliding shaft; 117. a chute; 31. an adjustment mechanism; 32. a back plate; 33. and a second pressure sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a cervical vertebra rehabilitation training auxiliary robot comprises a movable base 1, and a backrest 3, a head covering module 4, an auxiliary traction and adjustment device 5 and a control module 2 which are matched with the movable base;

as shown in fig. 2, the movable base 1 comprises a brake device 11, a support plate 12, a first electric push rod 14, a seat frame 13, an armrest 16 and a button 15; a brake device 11 is installed at the bottom end of the supporting plate 12, the electric push rod I14 vertically penetrates through the center of the supporting plate 12, the control module 2 is fixed at the upper side of the supporting plate 12, a seat frame 13 is fixed at the top end of the electric push rod I14, the seat frame 13 is rotatably connected with the backrest 3, an armrest 16 parallel to the seat frame 13 is fixed on the backrest 3, and a button 15 is installed on the armrest and used for adjusting the angle between the backrest 3 and the seat frame 13;

as shown in fig. 6 and 7, the backrest 3 includes an adjusting mechanism 31, a back plate 32 and a second pressure sensor 33, the adjusting mechanism 31 is disposed inside the seat frame 13, the adjusting mechanism 31 forms a rotation pair with the back plate 32 through a connecting shaft, the back plate 32 is fixed at an upper side position of one end of the adjusting mechanism 31, the second pressure sensor 33 is fixed at a front side of the back plate 32 and is connected with a command receiving end of the control module 2, the adjusting mechanism 31 includes a clamping rod 311, a cable 312, a stopper 313, a spring 314, and a shaft 315, the clamping rod 311 is mounted at a left side inside the seat frame 13, the cable 312 is connected to the clamping rod 311, the other end of the clamping rod is connected to the shaft 315, the shaft 315 and the back plate 32 cooperate to form an axially movable cylinder pair, the spring 314 is fixed on the cable 312, the stopper 313 is disposed on the cable 312 and is connected to the spring 314, when the, the spring 314 stretches and retracts to drive the steel cable 312 to be adjusted to a certain position, so that different angles of the back plate 32 can be adjusted, and the spring 314 plays a role in resetting. The reciprocating motion of the clamping rod and the steel cable drives the shaft lever to rotate, so that the angle of the backrest can be adjusted.

As shown in fig. 3, 4 and 5, the moveable base 1 further comprises a brake device 11, and the brake device 11 comprises a wheel bracket 112, a guide groove 113, a wheel 111, a brake pad 114, a brake handle 115, a sliding shaft 116 and a sliding groove 117. The wheel 111 is arranged on the wheel support 112 to form a revolute pair, the wheel support 112 is provided with a guide groove 113, the brake pad 114 is arranged in the guide groove 113, the brake handle 115 is fixed on a rotating shaft of the wheel 111, the brake handle 115 is connected with the brake pad 114, the brake pad 114 is provided with a sliding groove 117, one end of the sliding shaft 116 is fixed on the brake handle 115, the other end of the sliding shaft is inserted into the sliding groove 117, and when the brake handle 115 is rotated, the sliding shaft 116 can slide in the sliding groove 117 under the driving of the brake handle 115.

The brake handle is provided with the brake pad which vertically penetrates, the brake pad is provided with the sliding groove, the eccentric sliding shaft slides in the sliding groove to pull the brake pad to move up and down, force loss is effectively reduced, friction force generated in movement can be effectively reduced, braking and starting are flexible, and rebound is avoided.

As shown in fig. 8, the headgear module 4 includes a fixing bracket 41, a headgear 43, a second electric push rod 42, and a first pressure sensor 44. The upper end of the fixed bracket 41 is connected with a rope, and the lower end is connected with a joint sleeve 43. The head cover 43 is used for supporting the head and fixing the head position. The electric push rod II 42 is fixed at two ends of the head cover 43, and the pressure sensor I44 is arranged on the head cover 43 and used for detecting the pressure applied to the head cover 43;

the headgear 43 is made of a novel hydrogel material, is soft in property, can keep a certain shape, adopts an electric push rod to adjust the height of the headgear module, adapts to the requirements of different people, is convenient in mode, is easy to operate, and obviously improves the practicability of the headgear.

As shown in fig. 9, 10 and 11, the auxiliary traction and adjustment device 5 includes a first traction adjustment module 51, a second traction adjustment module 52, an auxiliary traction mechanism 53, a first support bar 541, a second support bar 542, a first support frame 551, a second support frame 552 and a third support frame 553. The first support bar 541 is vertically fixed on the left upper side of the handrail 16, the second support bar 542 is vertically fixed on the right upper side of the handrail 16, the first support frame 551 is fixed on the first support bar 541 and is parallel to the handrail 16, the second support frame 552 is fixed on the second support bar 542 and is parallel to the handrail 16, one end of the third support frame 553 is connected with the first support frame 551, the other end of the third support frame 553 is connected with the second support frame 552 and is perpendicular to the handrail 16, the first traction adjusting module 51 is fixed on the first support frame 551, the second traction adjusting module 52 is fixed on the second support frame 552, and the auxiliary traction mechanism 53 is fixed on;

the traction adjusting module I51 comprises a motor base 511, a servo motor 512, a harmonic reducer 513, a torque sensor 514, a connecting shaft 515, a coupling 516, a pinion 517, a first gear supporting seat 518, a large gear 519, a rotating shaft 5110, a large pulley 5111, a pulley seat 5112, a rope I5113, a small pulley 5114, a pulley base 5115, a rope II 5116, a guide wheel 5117, a guide wheel seat 5118, a rope III 5119 and a second gear supporting seat 5120; the motor base 511 is fixed on a first support 551, the servo motor 512 is fixed on the motor base 511 and is parallel to the first support 551, the harmonic sensor 513 is connected with the servo motor 512 to form a rotating pair, the torque sensor 514 is fixed on the first support 551 and is connected with a rotating shaft of the servo motor 512, one end of the connecting shaft 515 is connected with the harmonic reducer 513, the other end of the connecting shaft 515 is connected with a pinion 517, the coupling 516 is sleeved on the connecting shaft 515 to form a cylindrical pair, the gearwheel 519 is meshed with the pinion 517, the gearwheel 519 is fixedly connected with the rotating shaft 5110 to drive the rotating shaft 5110 to rotate, the first gear supporting seat 518 is fixed on a first support 551 and is rotatably connected with the rotating shaft 5110, the second gear supporting seat 5120 is fixed on the first support 551 and is rotatably connected with the pinion 517, the pulley seat 5112 is fixed on the first support 551, and the large pulley 5111 is, and is fixedly connected with the rotating shaft 5110 and rotates along with the rotation of the rotating shaft 51110, the pulley base 5115 is fixed on the first bracket 551, and the small pulley 5114 is installed on the pulley base 5115. The guide wheel seat 5118 is fixed on the first bracket 551, the guide wheel 5117 is installed on the guide wheel seat 5118, one end of the first rope 5113 is connected with the large pulley 5111, the other end of the first rope 5113 is connected with the small pulley 5114, one end of the second rope 5116 is connected with the small pulley 5114, the other end of the second rope 5118 is connected with the guide wheel 5118, the other end of the third rope 5119 is connected with one end, opposite to the first bracket 551, of the fixed bracket 41 in the sleeve module 4, and the second traction adjusting module 52 and the first traction adjusting module 51 have the same structure; one end of a rope III 5119 in the traction adjusting module II 52 is connected with the guide wheel 5118, and the other end of the rope III is connected with one end, opposite to the bracket II 551, of the fixed bracket 41 in the joint sleeve module 4;

the servo motor drives the pinion to move, the pinion drives the gear wheel to rotate, the rotating shaft rotates accordingly to drive the pulley to roll, and the rope penetrating through the pulley contracts and expands, so that the height of the headgear module is reduced, and the most comfortable state of a patient is achieved for treatment.

As shown in fig. 12, the auxiliary traction mechanism 53 includes a first hinge wheel seat 531, a first hinge wheel 532, a guide rail base 533, a sliding chute 534, a sliding block 535, a first spring 536, a second spring 537, a wire fixing plate 538, a third spring 539, a fourth spring 5310, a push rod 5311, a push rod motor 5312, a motor fixing base 5313, a pull wire displacement sensor 5314, a second hinge wheel 5315, a second hinge wheel base 5316, a seventh rope 5317, an eighth rope 5318, and a ninth rope 5319; the first hinge wheel seat 531 is fixed on the third support 553, the first hinge wheel 532 is installed on the first hinge wheel seat 531, the guide rail base 533 is fixed on the third support 553, the sliding chute 534 is connected with the guide rail base 533 and is fixed with the third support 553, the sliding block 5355 is connected with the sliding chute 534 in a sliding manner and can do reciprocating linear motion in the sliding chute 534, one end of the first spring 536 is connected with the guide rail base 533, the other end of the first spring 536 is connected with the sliding block 535, the first spring 536 and the second spring 537 are simultaneously connected between the sliding block 535 and the left guide rail base 533, and the third spring 539 and the fourth spring 5310 are connected between the right guide rail base 533; the thread fixing plate 538 is fixed on the sliding block 535, one end of the push rod 5311 is connected with the sliding block 535, the other end is connected with the push rod motor 5312, the push rod motor 5312 is fixed on a motor fixing seat 5313, the motor fixing seat 5313 is fixed on a third support 553, the pull wire displacement sensor 5314 is fixed on the third support 553, used for measuring the displacement of the rope eight 5318, the second hinge wheel base 5316 is fixed on the third bracket 553, the second hinge pulley 5315 is arranged on the second hinge pulley base 5316, one end of the rope seven 5317 is connected with the first hinge pulley 532, the other end is connected with the other end of the fixed bracket 41 in the sleeve module 4 opposite to the second bracket 551, one end of the rope eight 5318 is connected with the first hinge wheel 532, the other end thereof passes through the thread fixing plate 528 to be connected with the second hinge wheel 5315, one end of the rope nine 5319 is connected with the second hinge wheel 5315, and the other end is connected with the other end, opposite to the first support 551, of the fixed support 41 in the joint sleeve module 4.

The push rod motor promotes the push rod, drives the sliding block and is reciprocating linear motion in linear guide, adopts four sections buffer spring can effectively increase the resistance, reduces the translation rate, is favorable to realizing the fine setting to headgear module angle, improves treatment.

As shown in fig. 13, the control module 2 includes an information processing control module 21, the information processing module 21 is fixed on the support plate 12, the information processing module 21 collects signals of the first pressure sensor 44, processes the signals, outputs signals to control the second electric push rod 42 to move up and down, collects signals of the second pressure sensor 33, and feeds the signals back to the adjusting mechanism 31, the clamping rod 311 in the adjusting mechanism 31 pushes the steel cable 312 to move, so as to drive the shaft 315 to rotate, collects signals of the torque sensor 514, analyzes the signals, outputs signals to control the servo motor 512 to output torque, realizes flexible control of traction force, collects signals of the pull wire displacement sensor 5314, controls the push rod motor 5312 to adjust displacement of the cable, and realizes adjustment of different traction directions.

The control module collects the working process of each motor and stores the working process into a database file, after the whole process is collected and stored, each motor is actively loaded according to the stored information, the output of each motor is reproduced, and the simulation of the treatment process of a doctor is realized. The output speed of the motor in the traction process can be adjusted by adjusting the loading frequency of the motor. When the device is used again, rehabilitation treatment can be directly carried out according to the stored files.

The invention also provides an application method of the cervical vertebra rehabilitation training auxiliary robot, which comprises the following steps: the patient sits on the movable base 1 firstly, when the back of the patient contacts the backrest 3, the second pressure sensor 33 outputs a signal to the adjusting mechanism 31 through the information processing module 21, the clamping rod 311 in the adjusting mechanism 31 is controlled to push the steel cable 312 to move so as to drive the shaft rod 315 to rotate, the inclination angle of the backrest 3 is adjusted, then the lower jaw of the patient is fixed by the head sleeve module 4, when the first pressure sensor 44 detects the signal, the signal processing module 21 processes the signal, the electric push rod two 42 is controlled to move up and down, the corresponding auxiliary traction and adjusting device 5 starts to work, the two traction adjusting modules are respectively connected with one rope, when the information processing module 21 receives the signal of the torque sensor 514, the signal is immediately output to control the servo motor 512 to rotate, so as to drive the pinion 517 to rotate, the pinion 517 is meshed with the bull gear 519, the pinion 517 drives the bull gear 519 to, the large gear 519 drives the pulley to rotate through the rotating shaft 5110, so that the ropes start to move together, the ropes are respectively connected to two ends of the fixed support 41 in the headgear module 4 and are used for adjusting the vertical distance of the headgear module 4, the auxiliary traction mechanism 53 is simultaneously connected with two ropes, when the information processing module 21 receives a signal of the pull wire displacement sensor 5314, a signal is fed back immediately to control the push rod motor 5312 to move so as to drive the sliding block 535 to reciprocate in the chute 534, because the guide rail base 533 is provided with four springs, the sliding block 535 needs to overcome resistance, so that the sliding block 535 can only move slowly in the chute 534, the auxiliary traction mechanism 53 is further provided with two hinge wheels and a wire fixing plate 538, the ropes respectively pass through the hinge wheels and the wire fixing plate 538 and are connected with the fixed support 41 of the headgear module 4 to realize fine adjustment of the angle of the headgear module 4, and finally, the detection data of the sensors can be, the patient can then be rehabilitated according to the database file.

The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the appended claims.

Claims

1. The utility model provides a cervical vertebra rehabilitation training auxiliary robot which characterized in that: comprises a movable base (1), a backrest (3) matched with the movable base, a head cover module (4), an auxiliary traction and adjustment device (5) and a control module (2);

the movable base (1) comprises a brake device (11), a support plate (12), an electric push rod I (14), a seat frame (13), handrails (16) and a button (15); the bottom end of the supporting plate (12) is provided with a brake device (11), the electric push rod I (14) vertically penetrates through the center of the supporting plate (12), the control module (2) is fixed on the upper side of the supporting plate (12), the top end of the electric push rod I (14) is fixedly provided with a seat frame (13), the seat frame (13) is rotatably connected with the backrest (3), the backrest (3) is fixedly provided with a handrail (16) parallel to the seat frame (13), and the handrail is provided with a button (15) for adjusting the angle between the backrest (3) and the seat frame (13);

the head cover module (4) comprises a fixing support (41), a head cover (43), a second electric push rod (42) and a first pressure sensor (44). The upper end of the fixed support (41) is connected with a rope, and the lower end of the fixed support is connected with a joint sleeve (43). The head cover (43) is used for supporting the head and fixing the position of the head. The electric push rod II (42) is fixed at two ends of the head cover (43), and the pressure sensor I (44) is arranged on the head cover (43) and used for detecting the pressure applied to the head cover (43);

the auxiliary traction and adjustment device (5) comprises a traction adjustment module I (51), a traction adjustment module II (52), an auxiliary traction mechanism (53), a support rod I (541), a support rod II (542), a support frame I (551), a support frame II (552) and a support frame III (553). The first support rod (541) is vertically fixed on the left upper side of the handrail (16), the second support rod (542) is vertically fixed on the right upper side of the handrail (16), the first support frame (551) is fixed on the first support rod (541) and is parallel to the handrail (16), the second support frame (552) is fixed on the second support rod (542) and is parallel to the handrail (16), one end of the third support frame (553) is connected with the first support frame (551), the other end of the third support frame is connected with the second support frame (552) and is perpendicular to the handrail (16), the first traction adjusting module (51) is fixed on the first support frame (551), the second traction adjusting module (52) is fixed on the second support frame (552), and the auxiliary traction mechanism (53) is fixed on the third support frame (553);

the traction adjusting module I (51) comprises a motor base (511), a servo motor (512), a harmonic reducer (513), a torque sensor (514), a connecting shaft (515), a coupler (516), a pinion (517), a first gear supporting seat (518), a gearwheel (519), a rotating shaft (5110), a large pulley (5111), a pulley seat (5112), a rope I (5113), a small pulley (5114), a pulley base (5115), a rope II (5116), a guide wheel (5117), a guide wheel seat (5118), a rope III (5119) and a second gear supporting seat (5120); the motor base (511) is fixed on the first support (551), the servo motor (512) is fixed on the motor base (511) and is parallel to the first support (551), the harmonic sensor (513) is connected with the servo motor (512) to form a revolute pair, the torque sensor (514) is fixed on the first support (551) and is connected with a rotating shaft of the servo motor (512), one end of the connecting shaft (515) is connected with the harmonic reducer (513), the other end of the connecting shaft is connected with the pinion (517), the coupling (516) is sleeved on the connecting shaft (515) to form a cylindrical pair, the gearwheel (519) is meshed with the pinion (517), the gearwheel (519) is fixedly connected with the rotating shaft (5110) to drive the rotating shaft (5110) to rotate, the first gear supporting seat (518) is fixed on the first support (551) and is rotatably connected with the rotating shaft (5110), the second gear supporting seat (5120) is fixed on the first support (551), the pulley seat (5112) is fixed on the first support (551), the large pulley (5111) is mounted on the pulley seat (5112), is fixedly connected with the rotating shaft (5110) and rotates along with the rotation of the rotating shaft (51110), the pulley base (5115) is fixed on the first support (551), and the small pulley (5114) is mounted on the pulley base (5115). The guide wheel seat (5118) is fixed on the first support (551), the guide wheel (5117) is installed on the guide wheel seat (5118), one end of the first rope (5113) is connected with the large pulley (5111), the other end of the first rope (5113) is connected with the small pulley (5114), one end of the second rope (5116) is connected with the small pulley (5114), the other end of the second rope (5118) is connected with the guide wheel (5118), the other end of the third rope (5119) is connected with one end, opposite to the first support (551), of the fixed support (41) in the joint sleeve module (4), and the second traction adjusting module (52) and the first traction adjusting module (51) are identical in structure; one end of a rope III (5119) in the traction adjusting module II (52) is connected with the guide wheel (5118), and the other end of the rope III is connected with one end, opposite to the bracket II (551), of a fixed bracket (41) in the sleeve module (4);

the auxiliary traction mechanism (53) comprises a first hinge wheel seat (531), a first hinge wheel (532), a guide rail base (533), a sliding groove (534), a sliding block (535), a first spring (536), a second spring (537), a wire fixing plate (538), a third spring (539), a fourth spring (5310), a push rod (5311), a push rod motor (5312), a motor fixing seat (5313), a pull wire displacement sensor (5314), a second hinge wheel (5315), a second hinge wheel base (5316), a seventh rope (5317), an eighth rope (5318) and a ninth rope (5319); the first hinge wheel seat (531) is fixed on the third support (553), the first hinge wheel (532) is installed on the first hinge wheel seat (531), the guide rail base (533) is fixed on the third support (553), the sliding groove (534) is connected with the guide rail base (533) and is fixed with the third support (553), the sliding block (5355) is connected with the sliding groove (534) in a sliding mode and can do reciprocating linear motion in the sliding groove (534), one end of the first spring (536) is connected with the guide rail base (533), the other end of the first spring (536) is connected with the sliding block (535), the first spring (536) and the second spring (537) are simultaneously connected between the sliding block (535) and the left guide rail base (533), and the third spring (539) and the fourth spring (5310) are connected between the right guide rail base (533); the wire fixing plate (538) is fixed on the sliding block (535), one end of the push rod (5311) is connected with the sliding block (535), the other end of the push rod is connected with the push rod motor (5312), the push rod motor (5312) is fixed on the motor fixing seat (5313), the motor fixing seat (5313) is fixed on the third support (553), the wire pulling displacement sensor (5314) is fixed on the third support (553) and used for measuring the displacement of the rope eight (5318), the second hinge wheel base (5316) is fixed on the third support (553), the second hinge wheel (5315) is installed on the second hinge wheel base (5316), one end of the rope seven (5317) is connected with the first hinge wheel (532), the other end of the rope is connected with the other end of the second support (551) relative to the fixed support (41) in the joint sleeve module (4), one end of the rope eight (5318) is connected with the first hinge wheel (532), and the other end of the rope eight (5315) penetrates through the wire fixing plate (, one end of the rope nine (5319) is connected with the second hinge wheel (5315), and the other end of the rope nine (5319) is connected with the other end, opposite to the first support (551), of the fixed support (41) in the sleeve module (4).

2. The cervical rehabilitation training auxiliary robot of claim 1, wherein: the movable base (1) further comprises a brake device (11), and the brake device (11) comprises a wheel support (112), a guide groove (113), wheels (111), a brake pad (114), a brake handle (115), a sliding shaft (116) and a sliding groove (117). The wheel (111) is arranged on the wheel support (112) to form a revolute pair, a guide groove (113) is formed in the wheel support (112), the brake pad (114) is arranged in the guide groove (113), the brake handle (115) is fixed on a rotating shaft of the wheel (111), the brake handle (115) is connected with the brake pad (114), a sliding groove (117) is formed in the brake pad (114), one end of the sliding shaft (116) is fixed on the brake handle (115), the other end of the sliding shaft is inserted into the sliding groove (117), and when the brake handle (115) is rotated, the sliding shaft (116) can slide in the sliding groove (117) under the driving of the brake handle (115).

3. The cervical rehabilitation training auxiliary robot of claim 1, wherein: the backrest (3) comprises an adjusting mechanism (31), a back plate (32) and a second pressure sensor (33), the adjusting mechanism (31) is arranged inside the seat frame (13), the adjusting mechanism (31) and the back plate (32) form a revolute pair through a connecting shaft, the back plate (32) is fixed at the upper side of one end of the adjusting mechanism (31), the second pressure sensor (33) is fixed at the front side of the back plate (32) and connected with an instruction receiving end of the control module (2), the adjusting mechanism (31) comprises a clamping rod (311), a steel cable (312), a stop block (313), a spring (314) and a shaft lever (315), the clamping rod (311) is installed at the left side inside the seat frame (13), the steel cable (312) is connected with the clamping rod (311), the other end of the clamping rod (315) is connected with the shaft lever (315), and the shaft lever (315) and the back plate (32) are matched to form, the spring (314) is fixed on the steel cable (312), the stop block (313) is arranged on the steel cable (312) and connected with the spring (314), and when the steel cable (312) rotates along with the shaft rod (315), the spring (314) stretches and retracts to drive the steel cable (312) to be adjusted to a certain position, so that different angles of the back plate (32) can be adjusted.

4. The cervical rehabilitation training auxiliary robot of claim 1, wherein: the control module (2) comprises an information processing control module (21), the information processing module (21) is fixed on the support plate (12), the information processing module (21) firstly acquires a signal of the first pressure sensor (44), processes the signal, outputs a signal to control the second electric push rod (42) to move up and down, then the signal of the second pressure sensor (33) is collected and fed back to the adjusting mechanism (31), a clamping rod (311) in the adjusting mechanism (31) pushes a steel cable (312) to move, so that a shaft lever (315) is driven to rotate, and then, collecting signals of a torque sensor (514), analyzing the signals, outputting the signals to control a servo motor (512) to output torque, realizing flexible control of traction force, finally collecting signals of a stay wire displacement sensor (5314), controlling a push rod motor (5312) to adjust the displacement of the rope, and realizing adjustment in different traction directions.

5. The application method of the cervical vertebra rehabilitation training auxiliary robot based on any one of claims 1 to 4 is characterized by comprising the following steps: the patient sits on the movable base (1) firstly, when the back of the patient contacts the backrest (3), the second pressure sensor (33) outputs signals to the adjusting mechanism (31) through the information processing module (21), the clamping rod (311) in the adjusting mechanism (31) is controlled to push the steel cable (312) to move, the shaft lever (315) is further driven to rotate, the inclination angle of the backrest (3) is adjusted, then the lower jaw of the patient is fixed through the head sleeve module (4), when the first pressure sensor (44) detects the signals, the signal processing module (21) processes the signals, the second electric push rod (42) is controlled to move up and down, the corresponding auxiliary traction and adjusting device (5) starts to work, the two traction adjusting modules are respectively connected with a rope, and when the information processing module (21) receives the signals of the torque sensor (514), signals are immediately output to control the servo motor (512) to rotate, thereby driving the pinion (517) to rotate, the pinion (517) is meshed with the gearwheel (519), the pinion (517) drives the gearwheel (519) to rotate, the gearwheel (519) drives the pulley to start rotating through the rotating shaft (5110), so that the ropes start to move together, the ropes are respectively connected with two ends of a fixed bracket (41) in the headgear module (4) and are used for adjusting the up-and-down distance of the headgear module (4), the auxiliary traction mechanism (53) is simultaneously connected with two ropes, when the information processing module (21) receives a signal of a stay wire displacement sensor (5314), a signal is fed back immediately to control the push rod motor (5312) to move, and further the sliding block (535) is driven to do reciprocating motion in the chute (534), because four springs are arranged in the guide rail base (533), the sliding block (535) needs to overcome resistance, so that the sliding block (535) can only move slowly in the chute (534), the auxiliary traction mechanism (53) is further provided with two hinge wheels and a wire fixing plate (538), a rope respectively penetrates through the hinge wheels and the wire fixing plate (538) and is connected with a fixing support (41) of the headgear module (4) to achieve angle fine adjustment of the headgear module (4), finally, detection data of the sensor can be filed in a database file of the information processing module (21), and then rehabilitation treatment can be carried out on a patient according to the database file.