CN102151187A - Wearable neck power-assisted in-parallel robot - Google Patents
Wearable neck power-assisted in-parallel robot Download PDFInfo
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- CN102151187A CN102151187A CN 201110106233 CN201110106233A CN102151187A CN 102151187 A CN102151187 A CN 102151187A CN 201110106233 CN201110106233 CN 201110106233 CN 201110106233 A CN201110106233 A CN 201110106233A CN 102151187 A CN102151187 A CN 102151187A
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- parallel robot
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Abstract
The invention relates two a wearable neck power-assisted in-parallel robot which comprises a neck cover which can be worn and covered on the neck of the human body, at least three sets of power-assisted rod components and a support armour which can be worn for the human body, wherein each power-assisted rod component consists of an upper support rod, an lower support rod and a servo motor, the servo motor is fixed on one end of one of the two support rods, a servo motor shaft is connected with one ends of the other one of the two support rods, the upper support rod is hinged with the lower support rod by the servo motor, the upper support rod and the lower support rod relatively rotate when the motor rotates, the neck cover is arranged above the support armour, three sets of the power-assisted rod components are respectively arranged at the left side, the right side and the back center of the neck cover or the support armour, and the upper end of the upper support rod and the lower end of the lower support rod are respectively in spherical hinge joint with the corresponding parts of the neck cover and the support armour. The wearable neck power-assisted in-parallel robot has the advantages that the robot can do a nichetargeting active motion or a preset passive motion to the neck cover with a sensing element and an intelligent control system to help the patient to resume the neck motion function and provide the active power-assisted support to the neck.
Description
Technical field
The present invention relates to technical field of medical instruments, relate in particular to a kind of wearable cervical region power-assisted parallel robot.
Background technology
In daily life, people's cervical region is one of the most complicated, the movable maximum body part that moves.Cervical region has carried heavier load in order to support the weight of head.Simultaneously, following the irritant reaction of brain to vision, audition and olfactory sensation, head needs to rotate rapidly and sensitively, this has more increased the burden of cervical vertebra, the initiation cervical spondylosis of accumulating over a long period, and the universal increase that makes the working method crowd that bows of computer more makes cervical spondylosis occurred frequently day by day.
Mechanotherapy is the important means of cervical spondylosis rehabilitation, and common treatment of cervical spondylopathy apparatus can only help neck carrying patient head weight passively, can not initiatively help sufferer to alleviate the neck burden.
Summary of the invention
The object of the present invention is to provide a kind of can the realization by following technical scheme initiatively for the cervical spondylosis patient alleviates the wearable cervical region power-assisted parallel robot that the cervical region burden helps patient's rehabilitation:
Described parallel robot, comprise that one can be set in the neck cover of people's neck, at least three group assister bar assemblies and wearable in the supporting first of human body, described assister bar assembly is by upper rack posts, lower fulcrum bar and servomotor are formed, described servomotor is fixed on an end of the pole in above-mentioned two poles, servo motor shaft is connected with an end of another pole, realize by servomotor, two poles is hinged down, on when motor rotates, two poles relatively rotate down, described neck is placed on the top of described supporting first, described three groups of assister bar assemblies place respectively on the left and right sides and center, rear portion of described neck cover or described supporting first, and on the upper rack posts wherein and lower fulcrum bar lower end overlaps with described neck respectively and the corresponding position of described supporting first carries out ball-joint.
Described supporting first comprises left shoulder rack, right shoulder rack, backboard and fixing band, and described left shoulder rack, right shoulder rack are spaced from each other and the suitable distance of human body left and right sides shoulder for adapting to the groove shape structure of human body shoulder; And connect with described backboard, fixing band is connected the lower end of left shoulder rack, right shoulder rack slidably.
Two lower ends of described left shoulder rack, right shoulder rack connect the snare of being made by fabric respectively, and described fixing band is undertaken describedly being connected slidably by this snare of cross-under and left shoulder rack, right shoulder rack.
Described backboard is made up of both sides portion plate, a central panel and two scrims, and both sides portion plate is symmetrically placed in the both sides of central panel, and is connected with central panel by a slice scrim respectively.
Described neck cover comprises U-shaped lasso, a slice scrim and at least one hasp at least, and described scrim is a rectangle, and one end limit is connected U-shaped opening one end of U-shaped lasso, and relative end limit is connected by the other end of hasp with the U-shaped opening.
Described neck cover is mainly by U-shaped lasso, two scrims and at least one hasp, and an end limit of two described scrims is connected to the two ends of the U-shaped opening of U-shaped lasso, and the relative end limit of two described scrims connects by hasp.
Described upper rack posts and lower fulcrum bar are formed by slide bar, loop bar and bolt, screw connector, are respectively equipped with the hole on described slide bar and the loop bar, by the hole of diverse location on bolt cross-under two bars, realize the length adjustment of described assister bar assembly.
The neck cover that the present invention will be placed in cervical region is connected with the assister bar assembly with the supporting first that is fixed in shoulder, and the assister bar assembly is made up of upper rack posts and lower fulcrum bar, the lower end of upper rack posts and the upper end of lower fulcrum bar are hinged by motor, rotation by motor can make two poles relatively rotate, and the motion of neck cover can realize by the rotation of controlling corresponding motor.Can use the parallel robot control system like this controls the motion of neck cover.For example,, utilize the sensing element in the control system, the neck cover is carried out active targetedly motion according to the impression of human body corresponding position; But predefined motion formula in the selective system makes the neck cover carry out passive motion-type exercise again.Improve the function of cervical section by active or passive mode.The neck cover can be finished anterior flexion and rear stretching, left and right sides lateroflexion and rotation basic exercise, gives the suitable power-assisted of corresponding cervical region at the volley or under static state gives certain support force.Make the practitioner can alleviate the compressing power that the excuse cranium produces cervical region because of weight, accelerate the rehabilitation of cervical spondylosis, along with the proficiency level's of the reinforcement of rehabilitation clients's cervical region strength and action raising, system gradually reduces to its power-assisted support, up to rehabilitation.In addition, robot architecture's simple and stable of the present invention is more accurate to the control of its motion.
Description of drawings
Fig. 1 is the structure chart of wearable type neck power-assisted parallel robot.
Fig. 2 is a neck noose composition.
Fig. 3 is a neck noose composition.
Fig. 4 assister bar assembly assumption diagram.
Among the figure, 1 neck cover, 1a U-shaped lasso, 1b scrim, the 1c hasp, 2 assister bar assemblies, 3 supporting first, 2a upper rack posts, the 2a1 connecting hole, 2b lower fulcrum bar, 2b1 connecting hole, 2c slide bar, the 2d loop bar, 3a right shoulder rack, 3a1 snare, 3b left shoulder rack, the 3b1 snare, 3c backboard, 3c1 limit portion plate, 3c2 central panel, the 3c3 scrim, 4 servomotors, 5 fixing bands.
The specific embodiment
Contrast Fig. 1, robot of the present invention mainly are made up of 1, three group of assister bar assembly 2 of neck cover and wearable supporting first 3 in human body.
Contrast Fig. 2, neck cover 1 one can be set in the cylindrical shell of people's neck, and it is made up of U-shaped lasso 1a, a slice scrim 1b and a hasp 1c.Scrim 1b is one rectangular-shaped, one end limit is connected U-shaped opening one end of U-shaped lasso, this scrim is made up of slide bar, loop bar and bolt, screw connector, be respectively equipped with the hole on described slide bar and the loop bar, by the hole of diverse location on bolt cross-under two bars, realize the length adjustment of described assister bar assembly.Connect the link of velcro 1c on the relative end limit of 1b, another link of velcro is connected the other end of U-shaped lasso U-shaped opening, the U-shaped opening of the logical U-shaped lasso of scrim 1b sealing, and be connected by the other end of hasp with the U-shaped opening.
Contrast Fig. 3, the two ends of the U-shaped opening of the U-shaped lasso in the above-mentioned neck cover 1 can be connected with a slice scrim 1b respectively, the adjacent end limit of these two scrim 1b connects the end limit of velcro 1c respectively, and two scrims interconnect by velcro 1c.
Supporting first 3 mainly is made up of left shoulder rack 3b, right shoulder rack 3a, backboard 3c and fixing band 5.Left shoulder rack 3b and right shoulder rack 3a are spaced from each other and the suitable distance of human body left and right sides shoulder, and connect with backboard 3c for adapting to the groove shape structure of human body shoulder.Backboard 3c is made up of the plate 3c1 of both sides portion, a central panel 3c2 and two scrim 3c3, so that dress when using.The plate 3c1 of both sides portion is symmetrically placed in the both sides of central panel 3c2, and is connected with central panel by a slice scrim 3c3 respectively.Backboard 3c is connected with right shoulder rack 3a with left shoulder rack 3b respectively by the plate 3c1 of both sides portion.Left shoulder rack 3b is connected the snare of being made by fabric respectively with right shoulder rack 3a two lower ends, and described fixing band 5 is connected 3a1 by this snare of cross-under slidably with left shoulder rack 3b, right shoulder rack 3a, and promptly fixing band 5 can be taken out tightly.
Contrast Fig. 4, assister bar assembly 2 is made up of upper rack posts 2a, lower fulcrum bar 2b and a small-sized servomotor 4, and servomotor 4b is fixedly connected on upper rack posts 2a lower end, and servo motor shaft 4a is connected on the lower fulcrum bar 2b by bearing, two bars are hinged by motor, and motor rotates two bars are relatively rotated.Upper rack posts 2a wherein and lower fulcrum bar 2b form by slide bar 2c, loop bar 2d and bolt, screw connector, are respectively equipped with hole 2c1,2d1 on slide bar and the loop bar, by the hole of diverse location on bolt cross-under two bars, realize the length adjustment of described assister bar assembly.
During use, the patient is set on cervical region with the neck cover of product of the present invention, and will support the first partial fixing on health.The machine man-hour, be arranged at the action tendency generation respective signal of the sensing element of human body corresponding position according to cervical region, after control system receives this signal, treatedly send action command to motor, last lower fulcrum bar relatively rotates, drive the neck cover and move to correct position, carry out the working method of initiatively adjusting.Also can make the neck cover move to correspondence position, carry out the working method of passive adjustment according to the formula that is provided with.Thus cervical region being produced a power-assisted helps cervical region realization athletic rehabilitation exercise or makes the assister bar assembly provide a support force to alleviate the cervical region burden to cervical region.
Claims (7)
1. wearable type cervical region power-assisted parallel robot, it is characterized in that comprising that one can be set in the neck cover of people's neck, at least three group assister bar assemblies and wearable in the supporting first of human body, described assister bar assembly is by upper rack posts, lower fulcrum bar and servomotor are formed, described servomotor is fixed on an end of the pole in above-mentioned two poles, servo motor shaft is connected with an end of another pole, realize by servomotor, two poles is hinged down, on when motor rotates, two poles relatively rotate down, described neck is placed on the top of described supporting first, described three groups of assister bar assemblies place respectively on the left and right sides and center, rear portion of described neck cover or described supporting first, and on the upper rack posts wherein and lower fulcrum bar lower end overlaps with described neck respectively and the corresponding position of described supporting first carries out ball-joint.
2. wearable type cervical region power-assisted parallel robot according to claim 1, it is characterized in that supporting first and comprise left shoulder rack, right shoulder rack, backboard and fixing band, described left shoulder rack, right shoulder rack are spaced from each other and the suitable distance of human body left and right sides shoulder for adapting to the groove shape structure of human body shoulder; And connect with described backboard, fixing band is connected the lower end of left shoulder rack, right shoulder rack slidably.
3. wearable type cervical region power-assisted parallel robot according to claim 2, two lower ends that it is characterized in that described left shoulder rack, right shoulder rack connect the snare of being made by fabric respectively, and described fixing band is undertaken describedly being connected slidably by this snare of cross-under and left shoulder rack, right shoulder rack.
4. wearable type cervical region power-assisted parallel robot according to claim 2, it is characterized in that described backboard is made up of both sides portion plate, a central panel and two scrims, both sides portion plate is symmetrically placed in the both sides of central panel, and is connected with central panel by a slice scrim respectively.
5. wearable type cervical region power-assisted parallel robot according to claim 1, it is characterized in that described neck cover comprises U-shaped lasso, a slice scrim and at least one hasp at least, described scrim is a rectangle, one end limit is connected U-shaped opening one end of U-shaped lasso, and relative end limit is connected by the other end of hasp with the U-shaped opening.
6. wearable type cervical region power-assisted parallel robot according to claim 5, it is characterized in that described neck cover is mainly by U-shaped lasso, two scrims and at least one hasp, one end limit of two described scrims is connected to the two ends of the U-shaped opening of U-shaped lasso, and the relative end limit of two described scrims connects by hasp.
7. wearable type cervical region power-assisted parallel robot according to claim 1, it is characterized in that described upper rack posts and lower fulcrum bar are by slide bar, loop bar and bolt, screw connector composition, be respectively equipped with the hole on described slide bar and the loop bar, by the hole of diverse location on bolt cross-under two bars, realize the length adjustment of described assister bar assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101062336A CN102151187B (en) | 2011-04-27 | 2011-04-27 | Wearable neck power-assisted in-parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101062336A CN102151187B (en) | 2011-04-27 | 2011-04-27 | Wearable neck power-assisted in-parallel robot |
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| Publication Number | Publication Date |
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| CN102151187A true CN102151187A (en) | 2011-08-17 |
| CN102151187B CN102151187B (en) | 2012-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011101062336A Expired - Fee Related CN102151187B (en) | 2011-04-27 | 2011-04-27 | Wearable neck power-assisted in-parallel robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104983545A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable three-degree-of-freedom cervical vertebra rehabilitation therapy robot |
| CN105434144A (en) * | 2015-12-30 | 2016-03-30 | 哈尔滨工业大学 | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof |
| CN105640737A (en) * | 2016-02-29 | 2016-06-08 | 吉林大学 | Flexible rope driven parallel connection cervical vertebra rehabilitation device |
| CN108478393A (en) * | 2018-05-27 | 2018-09-04 | 北京工业大学 | Contain submissive joint wearable neck recovering aid mechanism |
| CN109172080A (en) * | 2018-08-30 | 2019-01-11 | 蚌埠医学院 | A kind of Torticollis orthosis |
| CN111494083A (en) * | 2020-04-27 | 2020-08-07 | 中国人民解放军西部战区总医院 | Intelligent self-adaptive recovery fixing device used after thyroid operation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2474200A (en) * | 1946-07-19 | 1949-06-21 | Lance T Mcbee | Cervical splint |
| CN2084807U (en) * | 1991-02-23 | 1991-09-18 | 高明启 | Cervical vertebra traction fixer |
| CN2162928Y (en) * | 1993-05-11 | 1994-04-27 | 王民权 | Self-adjusting wearing cervical vertebra dragging apparatus |
-
2011
- 2011-04-27 CN CN2011101062336A patent/CN102151187B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2474200A (en) * | 1946-07-19 | 1949-06-21 | Lance T Mcbee | Cervical splint |
| CN2084807U (en) * | 1991-02-23 | 1991-09-18 | 高明启 | Cervical vertebra traction fixer |
| CN2162928Y (en) * | 1993-05-11 | 1994-04-27 | 王民权 | Self-adjusting wearing cervical vertebra dragging apparatus |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104983545A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable three-degree-of-freedom cervical vertebra rehabilitation therapy robot |
| CN105434144A (en) * | 2015-12-30 | 2016-03-30 | 哈尔滨工业大学 | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof |
| CN105640737A (en) * | 2016-02-29 | 2016-06-08 | 吉林大学 | Flexible rope driven parallel connection cervical vertebra rehabilitation device |
| CN108478393A (en) * | 2018-05-27 | 2018-09-04 | 北京工业大学 | Contain submissive joint wearable neck recovering aid mechanism |
| CN109172080A (en) * | 2018-08-30 | 2019-01-11 | 蚌埠医学院 | A kind of Torticollis orthosis |
| CN111494083A (en) * | 2020-04-27 | 2020-08-07 | 中国人民解放军西部战区总医院 | Intelligent self-adaptive recovery fixing device used after thyroid operation |
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| Publication number | Publication date |
|---|---|
| CN102151187B (en) | 2012-07-25 |
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