CN219148418U

CN219148418U - Mechanical arm for back operation training

Info

Publication number: CN219148418U
Application number: CN202223182960.3U
Authority: CN
Inventors: 喻文海; 徐德利; 罗文建
Original assignee: Nanchang Zhongke Lanxing Technology Co ltd; Nanchang High Tech Industry Collaborative Innovation Research Institute Chinese Academy Of Sciences
Current assignee: Nanchang Zhongke Lanxing Technology Co ltd; Nanchang High Tech Industry Collaborative Innovation Research Institute Chinese Academy Of Sciences
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-06-09
Anticipated expiration: 2032-11-30

Abstract

The utility model discloses a back operation training mechanical arm, which comprises support plates penetrating through arms and hanging on shoulders, wherein the two support plates are worn on shoulders on two sides of a human body and then realize the wearing action by fixedly installing binding belts on the upper side and the lower side of the support plates, connecting shafts which are distributed in parallel are arranged on the outer side of the support plates in the vertical direction through bearing seats, a main control mechanical arm controlled by a human hand is fixedly arranged on the top of one connecting shaft, an auxiliary control mechanical arm which rotates synchronously is movably sleeved on the surface of the connecting shaft, and the main control mechanical arm controlled by the human hand rotates along the circumferential direction of the connecting shaft and then realizes the rotation control action on the auxiliary control mechanical arm. This back operation training arm can be abundant with action and moment that master control arm produced completely act on the back, not only can realize the roll training action of back, can also smear the medicine at its end simultaneously, directly realize the self-smearing action to realize the effect of self-control.

Description

Mechanical arm for back operation training

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a back operation training mechanical arm.

Background

In recent years, along with the rapid development of robot technology, medical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, radiation resistance, infection resistance and the like. This is an effective means for a patient after back surgery to achieve self-training rehabilitation. Because the back operation is back, the patient receives the length and the angle restriction of eyes, both hands to can not oneself realize the action such as speeding up recovery to oneself back rehabilitation training, so at present the patient can only rely on other people to carry out necessary rehabilitation measure to postoperative back, and when relying on other people to carry out rehabilitation training application of force to postoperative back, still there is too big or too little problem of exerting oneself, only can instruct the size when other people exert force through the sensory nerve of disease oneself back, very easily cause postoperative secondary injury, the patient also can not realize rehabilitation training at any time and any place.

Disclosure of Invention

Based on the technical problem that the existing back postoperative rehabilitation training can be completed by other people, the utility model provides a back operation training mechanical arm.

The utility model provides a back operation training mechanical arm, which comprises support plates which penetrate through arms and are hung on shoulders, wherein the two support plates are worn on the shoulders on two sides of a human body, and the wearing action is realized by fixedly installing binding belts on the upper side and the lower side of the support plates.

The connecting shafts which are distributed in parallel are arranged on the outer side of the supporting plate in the vertical direction through bearing seats, and a master control mechanical arm controlled by a human hand is fixedly arranged at the top of one connecting shaft.

The surface activity of connecting axle has cup jointed synchronous pivoted and has assisted accuse arm, controls master control arm through the staff and follows the circumferencial direction of connecting axle is upwards rotated the back realizes to assisting the rotation of accuse arm and controlling the action.

And lifting driving sources for driving the auxiliary control mechanical arm to slide along the axis direction of the connecting shaft are further arranged at the upper end and the lower end of the auxiliary control mechanical arm.

Preferably, the master control arm is formed by hinging two telescopic master control arms end to end, the telescopic end and the hinging end of the master control arm are both provided with main bolts for fixing, and the head end of the master control arm is fixedly sleeved on the top outer surface of the connecting shaft.

Preferably, a handle is fixedly arranged on the upper surface of the tail end of the master control arm, and a human hand can realize the control action of the master control mechanical arm by holding the handle.

Preferably, the auxiliary control mechanical arm comprises a gear set vertically sleeved on the surface of the connecting shaft through matching of a key and a key groove and an auxiliary control arm movably sleeved on the connecting shaft and fixedly connected with two end faces of the gear set, the handle is used for controlling the main control mechanical arm to rotate and then driving one of the connecting shafts to rotate, then the gear set is driven to rotate through matching of the key and the key groove so as to realize the action of mutual engagement, and finally the auxiliary control arm is driven to synchronously rotate.

Preferably, the upper end and the lower end of the auxiliary control arm are movably provided with jackets through end face bearings, and the jackets distributed up and down along the axis of the connecting shaft are fixedly connected into a whole through a U-shaped plate.

Preferably, the auxiliary control mechanical arm is formed by hinging two telescopic auxiliary control arms from head to tail, the telescopic ends and the hinged ends of the auxiliary control arms are respectively provided with auxiliary bolts for fixing, and the tail ends of the auxiliary control arms are hinged with training balls in rolling contact with the skin of the back surface of the person through fixing seats.

Preferably, the lifting driving source comprises a self-locking gear motor fixed on the surface of the middle part of the jacket, a winding drum is fixedly sleeved on an output shaft of the self-locking gear motor, and a steel wire rope with one end fixed on the surface of the bearing seat is arranged on the surface of the winding drum.

Preferably, control switches for controlling the positive and negative rotation of the self-locking gear motor are fixedly arranged at the tops of the two handles.

The beneficial effects of the utility model are as follows:

1. through setting up the master control arm, can realize user's self-control's effect, control the master control arm through both hands, realize that oneself is accurate carries out self-induction control to the training dynamics of user's oneself back to the difficult problem of mastering of the dynamics size of having solved other people's application of force.

2. Through setting up the auxiliary control arm, action and moment that can be abundant with main control arm production are acted on the back completely, not only can realize the roll training action of back, can also smear the medicine at its end simultaneously, directly realize self-smearing action to realize the effect of self-control.

3. Through setting up the lift drive source, can carry out the effect of adjusting to the position of back concrete training, through this lift drive source, can drive and assist the accuse arm and carry out oscilaltion control, make things convenient for the training area to cover whole back.

Drawings

FIG. 1 is a schematic view of a back surgical training manipulator according to the present utility model;

fig. 2 is a structural installation perspective view of an auxiliary control mechanical arm of the back surgery training mechanical arm provided by the utility model;

FIG. 3 is a perspective view of the control switch structure of the mechanical arm for back surgery;

fig. 4 is a perspective view of the training ball structure of the mechanical arm for back surgery according to the present utility model.

In the figure: 1. a support plate; 2. a strap; 3. a connecting shaft; 31. self-locking gear motor; 32. a reel; 33. a wire rope; 34. a control switch; 4. a master control mechanical arm; 41. a main bolt; 42. a handle; 5. an auxiliary control mechanical arm; 51. a key slot; 52. a gear set; 53. an auxiliary control arm; 54. a jacket; 55. a U-shaped plate; 56. auxiliary bolts; 57. training ball.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

Referring to fig. 1 to 4, there is described a back surgical training mechanical arm comprising a support plate 1 hung on a shoulder through an arm, the support plate 1 is shaped like an L adapted to the shoulder, and is convenient to wear, soft materials such as sponge or silica gel can be added to the inner wall of the support plate 1 contacting the shoulder, so that the support plate 1 is prevented from being too hard and uncomfortable to wear.

In order to facilitate wearing, after the two support plates 1 are worn on shoulders on two sides of a human body, the action of wearing is realized by fixedly mounting the binding bands 2 on the upper side and the lower side, and elastic materials which can be directly used in the prior art such as the binding bands 2 or the back bands can be adopted.

For convenient operation, the connecting shafts 3 which are distributed in parallel are arranged on the outer side of the supporting plate 1 in the vertical direction through bearing seats, and a master control mechanical arm 4 operated by hands is fixedly arranged at the top of one connecting shaft 3.

For the convenient adaptation different crowds use, master control arm 4 is articulated by two scalable master control arms head and tail and forms, and the flexible end and the articulated end of master control arm all are equipped with the master bolt 41 that are used for fixed, and the first end of master control arm 4 is fixed to be cup jointed at the top surface of connecting axle 3, can set up the flexible length of master control arm 4 according to self arm length to the adaptation different crowds, after adjusting, screw up master bolt 41 again and can realize fixing.

For better realization is controlled, and the tail end upper surface of master control arm still fixed mounting has handle 42, and the staff is through holding handle 42 realization to the action of controlling of master control arm 4, holds handle 42, can conveniently control more.

Through setting up master control arm 4, can realize user's self-control's effect, control master control arm 4 through both hands, realize that the self-accuracy carries out self-induction control to the training dynamics of user's oneself back to the difficult problem of mastering of dynamics size of other people's application of force has been solved.

In order to realize that the control action of the main control mechanical arm 4 is transmitted to the back training action according to the maximum efficiency, the surface activity of the connecting shaft 3 is sleeved with the auxiliary control mechanical arm 5 which rotates synchronously, and the main control mechanical arm 4 is controlled by a human hand to rotate along the circumferential direction of the connecting shaft 3, so that the rotation control action of the auxiliary control mechanical arm 5 is realized.

For the action of a plurality of arms of bionical spider, assist accuse arm 5 includes through key and the vertical gear train 52 that cup joints on two connecting axle 3 surfaces of keyway 51 cooperation and the activity cup joints at connecting axle 3 and with the auxiliary accuse arm 53 of two terminal surface fixed connection of gear train 52, handle 42 controls and drives one of them connecting axle 3 and rotate after the main control arm 4 rotates, afterwards drive gear train 52 rotation through the cooperation of key and keyway 51 and realize the action of intermeshing, drive at last and assist accuse arm 53 synchronous rotation, through back-to-back's mode, the people's hand is controlled in the front portion, get in step the back with the action, can realize the effect of self-control.

In order to conveniently realize the action of training the whole back, the upper and lower ends of the auxiliary control arm 53 are movably provided with jackets 54 through end face bearings, and the jackets 54 distributed up and down along the axis of the connecting shaft 3 are fixedly connected into a whole through a U-shaped plate 55, so that the up-down lifting regulation and control can be realized, and the whole back can be conveniently covered.

In order to facilitate the training action of adjusting the local position of the back, the auxiliary control mechanical arm 5 is formed by hinging two telescopic auxiliary control arms 53 from head to tail, the telescopic ends and the hinging ends of the auxiliary control arms 53 are respectively provided with auxiliary bolts 56 for fixing, the tail ends of the auxiliary control arms 53 are hinged with training balls 57 in rolling contact with the skin of the back surface of a person through fixing seats, and the action point positions of the training balls 57 are directly adjusted, so that the action of accurate training can be realized.

Through setting up supplementary accuse arm 5, action and moment that can be abundant with master control arm 4 production are acted on the back completely, not only can realize the roll training action of back, can also smear the medicine at its end simultaneously, directly realize the self-smearing action to realize the effect of self-control.

In order to facilitate on-line adjustment of the upper and lower positions of the training, lifting driving sources for driving the auxiliary control mechanical arm 5 to slide upwards along the axis direction of the connecting shaft 3 are further arranged at the upper end and the lower end of the auxiliary control mechanical arm 5.

In order to realize self-locking lifting action, the lifting driving source comprises a self-locking speed reducing motor 31 fixed on the middle surface of a jacket 54, a winding drum 32 is fixedly sleeved on an output shaft of the self-locking speed reducing motor 31, and a steel wire rope 33 with one end fixed on the surface of a bearing seat is arranged on the surface of the winding drum 32.

In order to realize on-line regulation and control actions, the top of the two handles 42 is fixedly provided with a control switch 34 for controlling the positive and negative rotation of the self-locking gear motor 31, and the action of on-line control on the self-locking gear motor 31 can be realized through the control switch 34, so that the training actions can be completed without the help of other people.

Through setting up the lift drive source, can carry out the effect of adjusting to the position of back concrete training, through this lift drive source, can drive and assist accuse arm 5 and carry out upper and lower lift control, make things convenient for the training area to cover whole back. Thereby solving the technical problem that the prior back postoperative rehabilitation training can be finished by relying on other people.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims

1. The utility model provides a back operation training arm which characterized in that: comprises a supporting plate (1) which passes through arms and is hung on shoulders, wherein the two supporting plates (1) are worn on the shoulders on two sides of a human body and then are fixedly provided with binding bands (2) on the upper side and the lower side so as to realize the wearing action;

connecting shafts (3) which are distributed in parallel are arranged on the outer side of the supporting plate (1) in the vertical direction through bearing seats, and a master control mechanical arm (4) controlled by a human hand is fixedly arranged at the top of one connecting shaft (3);

an auxiliary control mechanical arm (5) which synchronously rotates is movably sleeved on the surface of the connecting shaft (3), and the main control mechanical arm (4) is controlled by a human hand to rotate along the circumferential direction of the connecting shaft (3), so that the rotation control action of the auxiliary control mechanical arm (5) is realized;

the upper end and the lower end of the auxiliary control mechanical arm (5) are also provided with lifting driving sources for driving the auxiliary control mechanical arm (5) to slide along the axial direction of the connecting shaft (3).

2. A back surgery training manipulator according to claim 1, wherein: the main control mechanical arm (4) is formed by hinging two telescopic main control arms end to end, the telescopic end and the hinging end of the main control arm are both provided with main bolts (41) for fixing, and the head end of the main control mechanical arm (4) is fixedly sleeved on the top outer surface of the connecting shaft (3).

3. A back surgery training manipulator according to claim 2, characterized in that: the upper surface of the tail end of the master control arm is fixedly provided with a handle (42), and a human hand can realize the control action of the master control mechanical arm (4) by holding the handle (42).

4. A back surgery training manipulator according to claim 3, wherein: the auxiliary control mechanical arm (5) comprises a gear set (52) vertically sleeved on the surfaces of the connecting shafts (3) through matching of keys and key grooves (51) and an auxiliary control arm (53) movably sleeved on the connecting shafts (3) and fixedly connected with two end faces of the gear set (52), the handle (42) controls the main control mechanical arm (4) to rotate and then drives one of the connecting shafts (3) to rotate, and then the gear set (52) is driven to rotate through matching of the keys and the key grooves (51) so as to realize mutual meshing action, and finally the auxiliary control arm (53) is driven to synchronously rotate.

5. The back surgery training manipulator of claim 4, wherein: the upper end and the lower end of the auxiliary control arm (53) are movably provided with jackets (54) through end face bearings, and the jackets (54) distributed up and down along the axis of the connecting shaft (3) are fixedly connected into a whole through a U-shaped plate (55).

6. The back surgery training manipulator of claim 5, wherein: the auxiliary control mechanical arm (5) is formed by hinging two telescopic auxiliary control arms (53) end to end, the telescopic ends and the hinging ends of the auxiliary control arms (53) are respectively provided with auxiliary bolts (56) for fixing, and the tail ends of the auxiliary control arms (53) are hinged with training balls (57) in rolling contact with the skin of the back surface of a person through fixing seats.

7. The back surgery training manipulator of claim 5, wherein: the lifting driving source comprises a self-locking gear motor (31) fixed on the middle surface of the jacket (54), a winding drum (32) is fixedly sleeved on an output shaft of the self-locking gear motor (31), and a steel wire rope (33) with one end fixed on the surface of the bearing seat is arranged on the surface of the winding drum (32).

8. The back surgery training manipulator of claim 7, wherein: the tops of the two handles (42) are fixedly provided with control switches (34) for controlling the positive and negative rotation of the self-locking gear motor (31).