Summary of the invention
The object of this invention is to provide a kind of complete function and also can realize the full vertebra intelligence of the flexible bionic physiotherapeutical instrument of Intelligent physiotherapeutic.
For achieving the above object, the present invention adopts following technical proposals: the full vertebra intelligence of a kind of flexible bionic physiotherapeutical instrument, and comprise pedestal and be contained in the elevating mechanism on pedestal, also comprise supporting mechanism, bed body and swing mechanism and controller, described pedestal comprises supporting leg, and crossbeam is arranged on supporting leg; Described elevating mechanism comprises: electric machine support, brake motor, lifting hinge and supporting hinges, electric machine support, lifting hinge and supporting hinges are arranged on crossbeam, brake motor is arranged on electric machine support, and screw mandrel is arranged on electric machine support and is connected with brake motor, and screw mandrel is connected with lifting hinge; Described supporting mechanism comprises back shaft, gripper shoe, central shaft and handrail, and back shaft is connected with lifting hinge with supporting hinges, and gripper shoe is sleeved on back shaft and connects handrail, and central shaft is fixed in gripper shoe and connects bed body; Described bed body comprises joint frame, articular lamella and push rod, and some joints frame is sleeved on central shaft and is connected successively, and articular lamella and push rod are fixed on the frame of joint; Described swing mechanism comprises: yaw, ankle fixing head, rocking bar, gear, sector gear and motor, yaw is arranged on back shaft, ankle fixing head is arranged on yaw top, and gear, sector gear and motor are fixed on yaw, and rocker sleeve is contained in gear; Brake motor is all connected with controller with motor.
Two push rods are installed in each frame both sides, joint, and there is pushing rod sleeve push rod outside, and pushing rod sleeve is sleeved on back shaft.
Between each push rod and pushing rod sleeve, push rod spring is housed.
Also comprise sensor, installation of sensors is in articular lamella bottom, and sensor is connected with controller.
Articular lamella is supported on the frame of joint by fixed axis, and fixed axis both sides are set with articular lamella spring, and articular lamella Spring Card is in articular lamella.
Joint frame around the slewing area of central shaft be less than ± 15 °, the Elastic Sliding scope of articular lamella on the frame of joint is that left and right is less than respectively 60mm.
The handstand angle of regulation range 0-35 ° of bed body.
Lower margin is installed on supporting leg.
On an articular lamella, a set of sensor is installed, sensor is 4-8 cover, is even number symmetrical on articular lamella.
The beneficial effect that the present invention brings is: user lies low on articular lamella, ankle is fixed on the ankle fixing head of yaw, according to treatment, need to select the working method of yaw is intelligent waving or intelligent shake, joint frame and flexible bionic joint plate can be realized swing or the shake in vertebra three dimensions under the drive of yaw, simultaneously, user can also be controlled bed body handstand angle according to self ability to bear within the scope of 0-35 °, realize the traction of handstand natural gravity, jointly reach therapeutic effect; In motor process, sensor on articular lamella passes through the articular lamella motion conditions of monitored patient at any time, according to motion conditions, the speed of yaw and amplitude are carried out to intellectuality control, the mechanical injuries that can not cause because of patient's body constitution in physical therapy process have been avoided, can also prevent the excessive human body rollover causing of motion amplitude, really realize Intelligent physiotherapeutic; In motor process, articular lamella spring and push rod spring pull human body to reset, the sector gear of yaw can avoid motor out of control to the excessive distortion of human body and human body rollover, the brake motor of elevating mechanism and leading screw can prevent that the human body that mechanical breakdown causes from falling suddenly, and multiple safety protection measure has guaranteed the safety of physiotherapeutical instrument.
The specific embodiment
The full vertebra intelligence of flexible bionic shown in Fig. 3 and Fig. 6 physiotherapeutical instrument as shown in Figure 1, Figure 2,, comprise pedestal, elevating mechanism, supporting mechanism, bed body and swing mechanism, controller: pedestal comprises supporting leg 2 and crossbeam 3, lower margin 1 is installed on supporting leg 2, and crossbeam 3 is arranged on supporting leg 2; Elevating mechanism comprises electric machine support 7, brake motor 6, lifting hinge 4, supporting hinges 5 and screw mandrel 8, electric machine support 7, lifting hinge 4 and supporting hinges 5 are arranged on crossbeam 3, brake motor 6 is arranged on electric machine support 7, screw mandrel 8 is arranged on electric machine support 7 and is connected with brake motor 6, and screw mandrel 8 is connected with lifting hinge 4; Supporting mechanism comprises back shaft 10, gripper shoe 12, central shaft 9 and handrail 11, and back shaft 10 is connected with lifting hinge 4 with supporting hinges 5, and gripper shoe 12 is sleeved on back shaft 10 and connects handrail 11, and central shaft 9 is fixed in gripper shoe 12 and connects bed body; Bed body comprises joint frame 13, articular lamella 14, push rod 15, and some joints frame 13 is sleeved on central shaft 9 and is connected successively, and articular lamella 14 and push rod 15 are fixed on joint frame 13, and the handstand angular range of bed body is 0-35 °; Swing mechanism comprises yaw 20, ankle fixing head 21, rocking bar 19, gear 25, sector gear 26 and motor 22, yaw 20 is arranged on back shaft 10, ankle fixing head 21 is arranged on yaw 20 tops, gear 25, sector gear 26 and motor 22 are fixed on yaw 20, rocking bar 19 is sleeved in gear 25, and rocking bar 19 is connected with motor 22.Brake motor 6, sensor 18 and motor 22 are all connected with controller.
As shown in Fig. 3, Fig. 4 and Fig. 5, two push rods 15 are installed in each joint frame 13 both sides, and there is pushing rod sleeve 16 push rod 15 outsides, and pushing rod sleeve 16 is sleeved on back shaft 10, between each push rod 15 and pushing rod sleeve 16, push rod spring 24 is housed; Articular lamella 14 is supported on joint frame 13 by fixed axis 17, and fixed axis 17 both sides are set with articular lamella spring 23, and articular lamella spring 23 is stuck in articular lamella 14; Joint frame 13 around the slewing area of central shaft 9 be less than ± 15 °, the Elastic Sliding scope of articular lamella 14 on joint frame 13 is that left and right is less than respectively 60mm.
Sensor 18 is arranged on articular lamella 14 belows, detects articular lamella displacement, and when articular lamella displacement surpasses design load, detection signal is effective, and is sent to the ARM chip in controller.ARM chip calculates according to sensor input signal, exports motor driver to, thus the motion amplitude of control step motor, frequency and emergent stopping.
Sensor is symmetrical, and every two symmetrical sensors, as one group, use four groups on bed body altogether.Every group of sensor effect had nothing in common with each other, and first group act as yaw normal operating conditions and detect, second and third, four groups act as the healths twisting situations that detect user, and as the feedback switch that regulates yaw operating frequency and amplitude.
In every group of sensor, be positioned at four signals of central shaft one side as the urgency signal of human body rollover.
Sensor 18, for 4-8 cover, is even number symmetrical on articular lamella 14.
The present invention in use, human body lies low on articular lamella 14, human vertebra and articular lamella 14 laminatings, both feet are fixed on ankle fixing head 21, patient can according to treatment, need to select yaw 20 working methods be intelligent waving or intelligent shake subsequently, start yaw 20 and start physical therapy, specific works mode is as follows:
Start intelligent waving after work, yaw 20 starts drag ankle and does low speed, sector reciprocating motion by a small margin, drive ankle swings, according to the detection data of sensor 18, accelerate gradually movement velocity and the motion amplitude of yaw 20, until driving body to make reciprocal S type at articular lamella 14 horizontal planes, both feet swing, in perpendicular, do fan-shaped reciprocal twisting, realize the motion in vertebra three dimensions, simultaneously, patient can adjust according to s own situation bed body handstand angle within the scope of 0-35 ° by elevating mechanism, realizing the intelligence of standing upside down swings, thereby correct the off-normal position in intervertebral disc and spinal joint and little joint, lax vertebra muscle and nerve around, enhance metabolism and neurocyte vigor, vertebra defective mode is improved.
Start after intelligent shake work, yaw 20 starts drag that ankle is done at a high speed, sector reciprocating motion by a small margin, the shake of drive ankle, according to the detection data of sensor 18, strengthen gradually the shake effect of yaw 20, until leg muscle, abdominal muscles, cervical region start shake, simultaneously, patient can adjust according to s own situation bed body handstand angle within the scope of 0-35 ° by elevating mechanism, realize the intelligence shake of standing upside down, thereby make whole-body muscle, joint obtain shake, loosen lax whole-body muscle and nerve, dredge periarticular blood capillary, improve microcirculation.
The present invention adopts multiple safety protection measure, sensor 18 is by the situation that detects articular lamella 14 and slide on joint frame 13 and the swing motion conditions of monitored patient at any time, according to motion conditions, the speed of yaw 20 and amplitude are carried out to intellectuality control, realize Intelligent physiotherapeutic, not only avoid the mechanical injuries that cause because of patient's body constitution difference in physical therapy process, can also prevent the excessive human body rollover causing of motion amplitude; Patient can also adjust according to s own situation handstand angle within the scope of 0-35 ° by elevating mechanism, reduce the excessive impact of handstand angle; Push rod spring 24 can guarantee that joint frame 13 is in center, and articular lamella spring 23 can guarantee that articular lamella 14 horizontally slips in joint frame 13 central authorities, and two springs pull human body to reset jointly; The sector gear 26 of yaw 20 can avoid motor 22 out of control to the excessive distortion of human body and human body rollover; Brake motor 6 and leading screw 8 can prevent that the human body that mechanical breakdown causes from falling suddenly.
Two kinds for the treatment of patterns of the present invention can freely be selected and switch, complete function, and can naturally draw and jointly reach therapeutic effect in conjunction with the handstand of bed body, therapeutic process is safe and reliable, and can realize the intelligent treatment of controlling according to patient's motion conditions, therapeutic effect is good.