CN100571663C - robot traction device - Google Patents

Abstract

The present invention relates to a kind of robot traction apparatus.This robot traction apparatus, comprise pedestal, drive traction frame, fixing band, the cervicolumbar holding component that can on pedestal, slide by traction electric machine, wherein fixing band, cervicolumbar holding component are positioned on the traction frame, cervicolumbar holding component comprise the neck waist entrust, two can be respectively to the support of two lateral movements, drive two neck waist holder driven units of two stands respectively, wherein the neck waist two ends of entrusting are separately fixed at the top of two stands; Traction frame is provided with slide rail, is set up in slide rail and is with this slide rail to be slidingly matched.Advantage of the present invention: adopt neck, forehead tractive manner, so therapeutic effect is good; Pulling motion is reliable and stable; Neck waist rest device is realized automatization, and is easy to operate, and more comfortable; The tension of browband is loosened and realized automatization, and is easy to operate, result of use good; Both can be used for cervical traction and also can be used for lumbar traction, applied range.

Description

robot traction device

technical field

The invention relates to a rehabilitation medical device, in particular to a robot traction device for treating cervical and lumbar diseases.

Background technique

At present, people's living standards and quality of life have generally improved. With the popularization of a large number of modern products such as televisions and computers, the time people spend sitting and standing has increased significantly, while outdoor activities have decreased significantly. This has led to a large increase in patients with cervical spondylosis, and cervical spondylosis has become a major disease that plagues modern people. Therefore urgently need a kind of good cervical vertebra therapy instrument of curative effect. The current cervical spine treatment often adopts a cervical spine traction device to achieve the therapeutic purpose by pulling the cervical spine. The traditional cervical traction device adopts the four-head belt suspension traction in the neck and jaw. The focus of the traction device is on the neck and mandible, and the traction force is uploaded by squeezing the mandible and the back pillow. The appearance looks like "hanging", which is unsightly; when traction, The patient has trismus and has difficulty speaking, even with discomfort. The traction belt compresses the blood vessels and nerves, causing various discomforts, such as dizziness and palpitation; it impacts the inferior temporal joint and compresses the temporal artery nerve, causing local numbness and pain; only upward traction is not beneficial for restoring the physiological curvature of the cervical spine, which affects treatment Effect.

Contents of the invention

The present invention aims to solve the above-mentioned shortcomings of the prior art, and provides a robot traction device that focuses on the forehead and neck and realizes traction automation.

The technical scheme adopted by the present invention to solve its technical problems: this robot traction device includes a base body, a traction frame driven by a traction motor that can slide on the base body, a fixing belt, and a neck and waist support assembly, wherein the fixing belt, the neck and waist support assembly Located on the traction frame, the neck and lumbar support assembly includes a neck and lumbar support belt, two brackets that can move to both sides, and two neck and lumbar support drive components that drive the two supports respectively, and the two ends of the neck and lumbar support belt are respectively fixed on the The tops of the two brackets; the traction frame is provided with a slide rail, and the bracket is arranged on the slide rail and is slidingly matched with the slide rail.

The beneficial effects of the present invention are: 1) the present invention changes the original traction mode of the neck and jaw to a more scientific and effective neck and forehead traction mode that meets the physiological requirements of the curvature of the human cervical spine, so the therapeutic effect is good; 2 ) The traction frame can slide freely on the base body through the cooperation of the sliding bar and the chute, and is driven by a sprocket mechanism to make the traction movement more stable and reliable; 3) The neck and waist support device can automatically rise from the lying state to support the human body In the neck and waist area, the automation of the neck and lumbar support device is realized, which is convenient to operate, and the neck and lumbar support device is more comfortable; 4) the tightening and relaxation of the forehead belt is realized automatically, which is convenient to operate and has a good use effect; 5) the present invention can be used for cervical spine Traction can also be used for lumbar traction and has a wide range of applications.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a side view sectional structural representation of the present invention;

Fig. 3 is a schematic cross-sectional structure diagram of A-A direction in Fig. 1;

Fig. 4 is a schematic cross-sectional structure diagram of B-B direction in Fig. 1;

Fig. 5 is a front structural schematic view of the neck and waist support device of the present invention;

Fig. 6 is a top view sectional structural schematic diagram of the neck and waist support device of the present invention;

Fig. 7 is a top structural schematic diagram of the neck and waist support device of the present invention;

Fig. 8 is a front view structural schematic diagram of the stent of the present invention;

Fig. 9 is a side view structural schematic diagram of the bracket of the present invention;

Fig. 10 is a front view sectional structural schematic diagram of the manipulator in Embodiment 1 of the present invention;

Fig. 11 is a side view sectional structural schematic diagram of the boom of Embodiment 1 of the present invention;

Fig. 12 is a schematic diagram of the three-dimensional structure of the manipulator in Embodiment 1 of the present invention;

Fig. 13 is a front view sectional structural schematic diagram of the manipulator in Embodiment 2 of the present invention;

Fig. 14 is a schematic structural view of the power mechanism of the manipulator in Embodiment 2 of the present invention;

Fig. 15 is a schematic diagram of the three-dimensional structure of the manipulator according to Embodiment 2 of the present invention;

Fig. 16 is a schematic structural view of the turntable tensioning mechanism of the present invention;

Fig. 17 is a schematic cross-sectional structural diagram of C-C in Fig. 12 .

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

Embodiment 1: This robot traction device includes a base 4, a traction frame 2 driven by a traction motor 8-3 that can slide on the base 4, a fixed belt 1, and a neck and waist support assembly, wherein the fixed belt 1, the neck and waist support The assembly is located on tongue frame 2. Present embodiment is bed type, and traction device has two groups, and one group is used for cervical vertebra traction, and another group is used for lumbar vertebra traction.

The neck and lumbar support assembly includes a neck and lumbar support belt 3 , two supports 10 that can move to the outside respectively, and two neck and lumbar support drive assemblies 12 that drive the two supports 10 respectively. Support 10 comprises upper fixed rod 10-16, lower fixed rod 10-13, is supported with two guide rods 10-5, a screw rod 10-12 between upper fixed rod 10-16, lower fixed rod 10-13, screw rod 10-12 is centered, and two guide rods 10-5 are positioned at both sides. Support 10 is also provided with a lifting frame made of connecting rod 10-8, two lifting slide bars 10-9, lifting slide block 10-10, wherein two lifting slide bars 10-9 are supported on connecting rod 10-8, lifting slide 10-10 between the blocks, and it is slidingly matched with the upper fixed rod 10-16; the lifting slider 10-10 is provided with a lifting nut 10-11, and the lifting nut 10-11 is sleeved on the screw rod 10-12, and the neck The two ends of the waist support belt 3 are affixed to the connecting rod 10-8. Like this, adjust lifting nut 10-11, lifting frame can be raised, thereby regulate the height of neck and waist support belt 3.

The guide rod slider 10-4 that is slidingly matched with it is sleeved on the guide rod 10-5, and the guide rod slider 10-4 is provided with a back-moving spring 10-7. A protective sleeve can be put on the outside of the back-moving spring 10-7 to protect the spring. Both sides of the traction frame 2 are provided with two slide rails 2-2, and the support 10 is slidingly matched with the slide rails 2-2 through the first traction slider 10-3 and the second traction slider 10-1 on both sides of the bracket 2; The first traction slider 10-3 is affixed to the two ends of the lower fixed rod 10-13, the second traction slider 10-1 is located outside the first traction slider 10-3, and the second traction slider 10-1 is A strut 10-2 is connected to the shaft, and the other end of the strut 10-2 is connected to the guide rod slider 10-4; the first traction slider 10-3 and the second traction slider 10-1 pass through the slider connector 10-6 are connected together, the slide block connector 10-6 has a chute 10-15, two screws 10-14 are worn in the chute 10-15, and the two screws 10-14 are connected with the first traction slide respectively. The block 10-3 and the second traction slider 10-1 are fixedly connected; the neck and lumbar support driving assembly 12 is connected with the second traction slider 10-1. Slide rail 2-2 can also be loaded onto the travel switch that is used for limiting support, increases safety.

The neck and waist support drive assembly 12 on each side respectively comprises a neck and waist support motor 12-2, two upper and lower neck and waist support sprocket mechanisms 12-1 driven by the neck and waist support motor 12-2, and a neck and waist support sprocket mechanism 12- The transmission chain of 1 is fixedly connected with the second traction slider 10-1 on the support 10, and a synchronous gear 12-3 is connected with 12 between the two neck lumbar support drive assemblies. The traction frame 2 is provided with a range finder 5 facing the neck and waist support belt 3, in order to control the height of the neck and waist support belt rising. Start the two neck lumbar support motors 12-2 to drive the second traction slider 10-1 to move to both sides. At this time, the strut 10-2 jacks up the outside of the support 10 to avoid the collision between the support 10 and the traction frame 2. It is convenient for the bracket 10 to slide and expand to both sides. When the second traction slider 10-1 slides to a certain extent, the first traction slider 10-3 is driven to slide to both sides through the slider connector 10-6, and at the same time, the entire bracket 10 of the strut 10-2 is slowly jacked up , until finally standing up, now the neck and waist support belt 3 has been tightened, fully supporting the neck of the human body. After the traction is finished, the motor is allowed to reverse, and the support 10 can be retracted to a flat state. When retracted, the return spring 10-7 facilitates the reset of the bracket 10. Therefore, the neck and waist support device of the present invention can automatically stand up from a flat state to support the neck of a human body, realize automation, and make the patient more comfortable when doing traction.

The fixing band 1 for cervical traction is arranged on two manipulators 7 respectively located on both sides of the traction frame 2, the manipulators 7 include a main arm 7-6, a slidable arm on the main arm 7-6 The telescopic arm 7-5, the top of the telescopic arm 7-5 is provided with a joint seat 7-3, the joint seat 7-3 is provided with a runner 7-8, and the bottom of the runner 7-8 is provided with a push rod 7- 4. The rotating shaft of the runner 7-8 is covered with a torsion spring 7-2; the runner 7-8 is fixedly connected with a suspension rod 7-1, and the two ends of the fixed belt 1 are respectively fixed on the two suspension rods 7-1; Also connected with the boom telescoping drive mechanism on the boom 7-5. The boom telescopic drive mechanism includes a boom telescopic motor 14-3, the boom telescopic motor 14-3 is connected with the first rotating shaft 14-2 through the first gear transmission mechanism 14-4, and the two ends of the first rotating shaft 14-2 A boom sprocket mechanism 14-1 is respectively connected, and the transmission chain of the boom sprocket mechanism 14-1 is affixed to the telescopic boom 7-5. An angle sensor 15 and a rotational speed sensor 16 are also provided on the first rotating shaft 14-2 for controlling the rotational angle and rotational speed of the first rotating shaft 14-2. The manipulator is also connected with an arm rotation mechanism, which includes an arm rotation motor 17-5, and the arm rotation motor 17-5 is connected with the second rotating shaft 17-3 by a second gear transmission mechanism 17-4, The two ends of two rotating shafts 17-3 are fixedly connected with rotating gear 17-1, and this rotating gear 17-1 is connected with angle gear 17-2, and angle gear 17-2 is coaxial with arm bar seat 7-7, and main arm bar 7 -6 is located on the arm bar seat 7-7. Start the boom telescopic motor 14-3, drive the telescopic boom 7-5 to slide through the first gear transmission mechanism 14-4, so that the fixed belt 1 extends to the patient's forehead, and then reverse the boom telescopic motor 14-3, that is The fixing belt 1 can be tightened on the patient's forehead for traction. After the traction is finished, turn the telescopic boom motor 14-3 again, and the telescopic boom 7-5 can be retracted. The restriction of 7-10 makes runner 7-8 rotate, thereby drives suspension bar 7-1 to erect, and is in line with telescopic arm bar 7-5. The torsion spring 7-2 is convenient to ensure that the suspension bar 7-1 returns to its original position when the telescopic arm bar 7-5 stretches forward. Now start the arm lever rotation motor 17-5 again, and drive the arm lever seat 7-7 to rotate by the rotating gear 17-1, so that the whole manipulator 7 is rotated to the level with the traction frame 2, and is positioned in the manipulator recovery groove 2-3. Like this, after manipulator 7 retracts, whole traction device looks more attractive in appearance.

The fixed belt 1 for lumbar traction is located on the turntable tensioning mechanism 6, and the turntable tensioning mechanism 6 includes a tensioning rope 6-2, a rotating disk 6-3, a tensioning motor 6-6, and the tensioning rope 6-2 wears On the fixed belt 1, the two ends of the tension rope 6-2 pass through a group of guide wheels 6-1 and wind around the turntable 6-3, which is located in the traction frame 2; the tension motor 6-6 The third rotating shaft 6-7 is connected to the third rotating shaft 6-7 through the third gear transmission mechanism, and the two ends of the third rotating shaft 6-7 are fixedly connected to the rotating disk 6-3 respectively. A clutch 6-4 is provided on the third rotating shaft 6-7. Start the tightening motor 6-6 to drive the turntable 6-3 to rotate, thereby pulling the tightening rope 6-2, and finally the fixing belt 1 is fastened on the patient's abdomen for lumbar traction. Clutch 6-4 can guarantee that when fixed band 1 is too tight, can stop rotating.

A chute 4-1 is provided on the seat body 4, and a slide bar 2-1 matched with the chute 4-1 is provided on the traction frame 2, and the slide bar 2-1 is located in the chute 4-1 and is connected to the The chute 4-1 is a sliding fit. The traction frame 2 is provided with a traction motor 8-3, and the traction motor 8-3 is connected with the fourth rotating shaft 8-5 through the fourth gear transmission mechanism 8-4, and the two ends of the fourth rotating shaft 8-5 are fixedly connected with traction gears 8-1, the traction gear 8-1 cooperates with the traction chain 8-2 fixed on the seat body 4. Traction chain 8-2 is fixed on the seat body 4 by screw 9. Start the traction motor 8-3, drive the traction gear 8-1 to rotate, because the traction chain 8-2 is fixed, the traction gear 8-1 can advance on the traction chain, thereby drive the whole traction frame 2 to slide on the seat body 4, Achieve traction. The fourth rotating shaft 8-5 is provided with a tension driver 13 for measuring the traction tension. Travel switch can be housed on the traction frame 2, limits the sliding range of traction frame 2. The cooperation of chute 4-1 and slide bar 2-1 makes the traction frame 2 slide more balanced.

During use, the patient lies on the seat body 4 . When performing cervical traction, first adjust the neck and lumbar support device so that the support 10 stands up, and the neck and lumbar support belt 3 supports the patient's neck. Then adjust the manipulator 7 so that the fixing belt 1 is fastened to the patient's forehead. Then start traction motor 8-3, make traction frame 2 slide on seat body 4, can carry out cervical vertebra traction. When performing lumbar traction, first adjust the neck and lumbar support device so that the support 10 stands up, and the neck and lumbar support belt 3 supports the patient's waist. Then adjust the turntable tightening mechanism 6, so that the fixing belt 1 is tightly tied to the patient's abdomen. Then start traction motor 8-3, make traction frame 2 slide on seat body 4, can carry out lumbar traction.

The robot traction device can also be used only for lumbar vertebra traction, or only for cervical vertebra traction, and at this time, it can be realized as long as one traction device is used. In addition, the seat body of the device can also be replaced with a chair for cervical traction, which is more comfortable.

Embodiment 2: With reference to Fig. 13, 14, 15, it is different from Embodiment 1 in that: the fixed belt 1 is a rubber fixed belt, which is arranged on two frontal belt guide boxes 20-1 respectively located on both sides of the traction frame 2, And it is slidingly matched with the forehead belt guide box 20-1; the forehead belt guide box 20-1 is provided with a forehead belt guide turntable 20-12, and the forehead belt guide turntable 20-12 is sleeved on the slide bar located at the traction frame 2 2-4; the inner side of the forehead belt guide turntable 20-12 is connected with a slide frame 20-4, and the slide frame 20-4 is slidingly matched with the traction frame 2; The belt telescopic mechanism includes a telescopic motor 20-11, and the telescopic motor 20-11 drives two synchronous wheels 20-3 through the transmission mechanism 20-7, and the synchronous wheel 20-3 drives the drum 20-2 through the forehead belt sprocket mechanism 20-5, The inner end of the fixed belt 1 is wound on the drum 20-2; a sliding motor 20-8 is also arranged in the carriage 20-4, and the sliding motor 20-8 drives the sliding gear 20-9 through a sliding transmission mechanism. , the sliding gear 20-9 cooperates with the sliding chain 20-6 fixed on the seat body 2. Start telescopic motor 20-11, can drive cylinder 20-2 to rotate, thereby drive rubber fixing belt 1 to stretch, fasten or unclamp patient's forehead belt. The synchronous wheel 20-3 guarantees that both sides fixed belt 1 stretches synchronously. Start slip motor 20-8, can make slip gear 20-9 rotate, because slip chain 20-6 is fixed, whole carriage 20-4 can move up and down on traction frame 2, regulates the height of forehead band, Adjust according to the different heights of patients.

Claims (10)

1, a kind of robot traction apparatus, comprise pedestal (4), drive and to go up traction frame (2), fixing band (1), the cervicolumbar holding component that slides at pedestal (4) by traction electric machine (8-3), wherein fixing band (1), cervicolumbar holding component are positioned on the traction frame (2), it is characterized in that: described cervicolumbar holding component comprise the neck waist entrust (3), two can be respectively to the support (10) of two lateral movements, drive two neck waist holder driven units (12) of two stands (10) respectively, wherein the neck waist two ends of entrusting (3) are separately fixed at the top of two stands (10); Traction frame (2) is provided with slide rail (2-2), and support (10) is located at slide rail (2-2) and is with this slide rail (2-2) and is slidingly matched.

2, robot traction apparatus according to claim 1, it is characterized in that: described support (10) is provided with guide rod (10-5), be with on the guide rod (10-5) with it and be the guide rod slide block (10-4) that is slidingly matched, guide rod slide block (10-4) is provided with back-moving spring (10-7); Support (10) is slidingly matched with slide rail (2-2) by the first traction slide block (10-3), the second traction slide block (10-1), wherein the first traction slide block (10-3) is fixed in support (10) bottom, the second traction slide block (10-1) is positioned at first traction slide block (10-3) outside, and be connected with strut (10-2) on this second traction slide block (10-1), this strut (10-2) other end and guide rod slide block (10-4) are coupling; The first traction slide block (10-3), the second traction slide block (10-1) link together by slide block connector (10-6), have chute (10-15) on this slide block connector (10-6), be installed with two screws (10-14) in the chute (10-15), two screws (10-14) respectively with first the traction slide block (10-3), second the traction slide block (10-1) affixed; Neck waist holder driven unit (12) is connected with the second traction slide block (10-1).

3, robot traction apparatus according to claim 2, it is characterized in that: described support (10) comprises fixed bar (10-16), following fixed bar (10-13), support has guide rod (10-5), screw rod (10-12) between last fixed bar (10-16), the following fixed bar (10-13), and the described first traction slide block (10-3) is fixed in down on the fixed bar (10-13); Also be provided with the crane that constitutes by connecting rod (10-8), lifting slide bar (10-9), lifting slider (10-10) on the support (10), wherein lifting slide bar (10-9) supports between connecting rod (10-8), lifting slider (10-10), and itself and last fixed bar (10-16) are and are slidingly matched; Lifting slider (10-10) is provided with lifting nut (10-11), and this lifting nut (10-11) is placed on the screw rod (10-12), and it is affixed that described neck waist is entrusted the two ends and the connecting rod (10-8) of (3).

4, robot traction apparatus according to claim 1 and 2, it is characterized in that: described neck waist holder driven unit (12) comprises neck waist holder motor (12-2), distinguishes moving neck waist holder chain-wheel mechanism (12-1) by neck waist holder motor (12-2), on the driving chain of neck waist holder chain-wheel mechanism (12-1) and the support (10) second traction slide block (10-1) is affixed, and (12) are connected with synchromesh gear (12-3) between the two neck waist holder driven units.

5, robot traction apparatus according to claim 1 and 2, it is characterized in that: described fixing band (1) is located on two mechanical hands (7) that lay respectively at traction frame (2) both sides, this mechanical hand (7) comprises principal arm bar (7-6), be located at that principal arm bar (7-6) is gone up and be the flexible armed lever (7-5) that is slidingly matched with it, the top of flexible armed lever (7-5) is provided with socket joint (7-3), be provided with runner (7-8) in this socket joint (7-3), runner (7-8) bottom is provided with push rod (7-4), is with torsion spring (7-2) in the rotating shaft of runner (7-8); Be connected with hanging stick (7-1) on the runner (7-8), described fixing band (1) two ends are separately fixed on two hanging sticks (7-1); Also be connected with armed lever telescopic drive mechanism on the flexible armed lever (7-5).

6, robot traction apparatus according to claim 5, it is characterized in that: described armed lever telescopic drive mechanism comprises the armed lever motor (14-3) that stretches, this armed lever motor (14-3) that stretches is connected with first rotating shaft (14-2) by first gear drive (14-4), the two ends of first rotating shaft (14-2) are connected with armed lever chain-wheel mechanism (14-1) respectively, and the driving chain of this armed lever chain-wheel mechanism (14-1) and flexible armed lever (7-5) are affixed.

7, robot traction apparatus according to claim 5, it is characterized in that: described mechanical hand also is connected with the armed lever rotating mechanism on (7), this armed lever rotating mechanism comprises armed lever rotary electric machine (17-5), armed lever rotary electric machine (17-5) is connected with second rotating shaft (17-3) by second gear drive (17-4), the two ends of second rotating shaft (17-3) are connected with transmitting gear (17-1), this transmitting gear (17-1) is connected with angle gear (17-2), angle gear (17-2) is coaxial with armed lever seat (7-7), and described principal arm bar (7-6) is located on this armed lever seat (7-7).

8, robot traction apparatus according to claim 1 and 2, it is characterized in that: described fixing band (1) is the rubber fixing band, be located on two browband orientating boxs (20-1) that lay respectively at traction frame (2) both sides, and be with this browband orientating box (20-1) and be slidingly matched; Browband orientating box (20-1) inboard is provided with browband guide revolving disk (20-12), and this browband guide revolving disk (20-12) is socketed on the slide bar (2-4) that is positioned at traction frame (2); Browband guide revolving disk (20-12) inboard is connected with balladeur train (20-4), and this balladeur train (20-4) and traction frame (2) are and are slidingly matched; Be provided with the fixing band telescoping mechanism in the balladeur train (20-4), this fixing band telescoping mechanism comprises flexible motor (20-11), flexible motor (20-11) drives two synchronizing wheels (20-3) by drive mechanism (20-7), this synchronizing wheel (20-3) is by browband chain-wheel mechanism (20-5) head roll (20-2), and the inner of fixing band (1) is on this cylinder (20-2); Also be provided with slippage motor (20-8) in the balladeur train (20-4), this slippage motor (20-8) drives shifting slide gear (20-9) by the slippage drive mechanism, and this shifting slide gear (20-9) cooperates with slippage chain (20-6) on being fixed on pedestal (2).

9, robot traction apparatus according to claim 1 and 2, it is characterized in that: described fixing band (1) is located on the rotating disk tensioning mechanism (6), this rotating disk tensioning mechanism (6) comprises tension rope (6-2), rotating disk (6-3), tension motor (6-6), tension rope (6-2) is through on the fixing band (1), one group of directive wheel (6-1) back is passed on rotating disk (6-3) in the two ends of tension rope (6-2), and this rotating disk (6-3) is positioned at traction frame (2); Tension motor (6-6) is connected with the 3rd rotating shaft (6-7) by the 3rd gear drive (6-5), and the two ends of the 3rd rotating shaft (6-7) are affixed with described rotating disk (6-3) respectively.

10, robot traction apparatus according to claim 1, it is characterized in that: have chute (4-1) on the described pedestal (4), traction frame (2) is provided with the draw runner (2-1) that is complementary with this chute (4-1), and this draw runner (2-1) is positioned at chute (4-1) and is with this chute (4-1) and is slidingly matched; Be provided with traction electric machine (8-3) in the traction frame (2), traction electric machine (8-3) is connected with the 4th rotating shaft (8-5) by the 4th gear drive (8-4), the two ends of the 4th rotating shaft (8-5) are connected with traction gear (8-1), and this traction gear (8-1) cooperates with conduction chain (8-2) on being fixed on pedestal (4).

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