CN105832498A - Lower jaw rehabilitation robot - Google Patents
Lower jaw rehabilitation robot Download PDFInfo
- Publication number
- CN105832498A CN105832498A CN201610413038.0A CN201610413038A CN105832498A CN 105832498 A CN105832498 A CN 105832498A CN 201610413038 A CN201610413038 A CN 201610413038A CN 105832498 A CN105832498 A CN 105832498A
- Authority
- CN
- China
- Prior art keywords
- lower jaw
- bevel gear
- fixedly connected
- sliding bevel
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000035876 healing Effects 0.000 claims description 9
- 210000004373 mandible Anatomy 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 208000011580 syndromic disease Diseases 0.000 abstract description 5
- 210000001738 temporomandibular joint Anatomy 0.000 abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 208000015775 Mandibular disease Diseases 0.000 description 1
- 206010041235 Snoring Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001847 jaw Anatomy 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/02—Head
- A61H2205/026—Mandible
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a lower jaw rehabilitation robot, which belongs to the field of medical apparatuses and is used for assisting the rehabilitation training of the lower jaw of a temporomandibular joint disturbance syndrome patient in the vertical, left and right directions. The lower jaw rehabilitation robot structurally and mainly consists of a servo motor, a speed reducer, a spline shaft, two pairs of bevel gears, a sleeve, a shifting fork, a shaft, a connecting rod, a shifting fork handle, a positioning pin, a rotating shaft, a cylindrical cam, a roller driven element, a lower jaw connecting element, a crankshaft, a connecting rod, a rocker, a tooth supporter, a lower jaw supporting element, a spring and a machine frame, wherein the spline shaft and a slippage bevel gear form sliding connection; the rotating shaft is fixedly connected with a first fixing bevel gear and the cylindrical cam; the lower jaw connecting element is fixedly connected with the roller driven element; the crankshaft is fixedly connected with a second fixing bevel gear; the connecting rod is connected with the crankshaft and the rocker through hinges; the tooth supporter is fixedly connected with the connecting rod; the spring is fixed between the lower jaw support element and the machine frame. The lower jaw rehabilitation robot has the advantages that the device is compact; the operation is convenient and safe; the cost is low; the lower jaw rehabilitation robot can be used for hospital or family rehabilitation training.
Description
Technical field
The invention belongs to medical instruments field, relate to a kind of lower jaw healing robot being particularly well-suited to temporomandibular joint disturbance syndrome patient.
Background technology
Temporomandibular joint disturbance syndrome (TMD) is one of mandibular movement obstacle common form, and pathogenic factor is failed to understand, having multiple paathogenic factor, WHO is listed in the 4th oral epidemiology affecting human health.The accessible motion of lower jaw is to ensure that the mankind swallow, sing, exchange and the premise being smoothed out of the action such as snoring, and the early recovery of Mandibular diseases can be substantially improved the quality of life of patient.Traditional methods for the treatment of needs therapist according to the factor such as conditions of patients, the cause of disease, and patient's lower jaw carries out repetition training action, rehabilitation efficacy and time repeatedly more depends on the experience of taking up a job as a doctor of doctor.As can be seen here, the research of a lower jaw healing robot that safely, effectively, patient's lower jaw can carry out repeatedly rehabilitation training is the most urgent.The lower jaw of people relates to up and down, the motion in around three directions, and the rehabilitation training effect of patient depends primarily on up and down, the rehabilitation of left and right both direction.At present, for the business healing robot WJ Series machine people that only Waseda University of Japan develops of temporomandibular joint disturbance syndrome patient, involve great expense and be not suitable for patient and carry out rehabilitation training at home.
Summary of the invention
The present invention when considering the training of temporomandibular joint disturbance syndrome patients ' recovery on the basis of the problem that runs into, have studied a simple in construction, can assist patient complete lower jaw up and down, the lower jaw healing robot of the two kinds of direction motions in left and right.
Above-mentioned purpose realizes being the technical scheme is that a kind of lower jaw healing robot, and including drive part, running part, executable portion, described drive part uses servomotor；Running part is made up of decelerator, two pairs of bevel gears, splined shaft, sleeve, shift fork, connecting rod, axle, shift fork handle, alignment pin, bent axle, connecting rod, rocking bar, rotary shaft, cylindrical cam, roller followers；Described decelerator output couples with splined shaft；Described sleeve and two sliding bevel gears are fixedly connected, and are formed with splined shaft and movably couple；Described connecting rod is formed with shift fork and movably couples, and is fixedly connected with axle；Described shift fork handle is fixedly connected with axle；Described fixed cone gear one is fixedly connected with rotary shaft；Described cylindrical cam is fixedly connected with rotary shaft；Described fixed cone gear two is fixedly connected with crank；Described connecting rod is formed with bent axle, rocking bar respectively and movably couples；Executable portion is made up of ramus of mandible support member, denture fixing device, spring, lower jaw connector, and described lower jaw connector is fixedly connected with roller follower；Described denture fixing device is fixedly connected with connecting rod；Described spring is fixed with ramus of mandible support member, frame and is connected.
The invention has the beneficial effects as follows: invention emulates human body lower jaw up and down, two kinds, left and right main movement, patient can be for own actual situation, and switching two at any time is to the engagement of bevel gear or separation, in order to realize the rehabilitation training of lower jaw different directions.This apparatus structure is compact, easy to operate, rehabilitation course safety, and low cost can substitute for loaded down with trivial details manual therapeutic, it is adaptable to the rehabilitation training in hospital and family.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention
Fig. 2 is four-bar mechanism schematic diagram
Fig. 3 is shifting fork structure schematic diagram
In figure: 1-servomotor；2-decelerator；3-splined shaft；4-sliding bevel gear one；5-alignment pin；6-sleeve；7-shift fork；8-sliding bevel gear two；9-frame；10-fixed cone gear two；11-bent axle；12-connecting rod；13-rocking bar；14-spring；15-ramus of mandible support member；16-denture fixing device；17-lower jaw connector；18-roller follower；19-cylindrical cam；20-rotary shaft；21-fixed cone gear one；22-connecting rod；23-shift fork handle；24-axle.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
Seeing accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, the lower jaw healing robot of the present invention, including drive part, running part, executable portion.Its structure by servomotor 1, decelerator 2,3, two pairs of bevel gears 4 of splined shaft with 21,8 with 10, alignment pin 5, sleeve 6, shift fork 7, connecting rod 22, shift fork handle 23, axle 24, frame 9, bent axle 11, connecting rod 12, rocking bar 13, spring 14, ramus of mandible support member 15, denture fixing device 16, lower jaw connector 17, roller follower 18, cylindrical cam 19, rotary shaft 20 form.Decelerator 2, one end couples servomotor 1, and one end couples splined shaft 3；Sleeve 6, one end is fixedly connected with sliding bevel gear 1, and one end is fixedly connected with sliding bevel gear 28；Alignment pin 5 for sliding bevel gear 4,8 respectively in the location of splined shaft 3 and fixing；Rotary shaft 20, one end is fixedly connected with fixed cone gear 1, and one end is fixedly connected with cylindrical cam 19；Roller follower 18 is fixedly connected with lower jaw connector 17；Bent axle 11 is fixedly connected with fixed cone gear 2 10；Connecting rod 12 forms revolute pair with bent axle 11, rocking bar 13 respectively, and is fixedly connected with denture fixing device 16；Spring 14 is fixed between ramus of mandible support member 15 and frame 9, is the flexible apparatus of lower jaw above-below direction rehabilitation training；Connecting rod 22, one end and shift fork 7 form revolute pair, and one end uses key to be fixedly connected with axle 24；Axle 24 is fixedly connected with shift fork handle 23.
The specific works process of the present invention:
Stir shift fork 7 time bevel gear 4 and 21 is engaged, bevel gear 8 and 10 separates, sliding bevel gear 1 is axially positioned and fixes by alignment pin 5, servomotor 1 drives splined shaft 3 to rotate by decelerator 2, the bevel gear 4 and 21 of engagement realizes 90 motion conversions of axle, rotary shaft 20 and cylindrical cam 19 are fixedly connected, driven roller driven member 18 and the left and right movement of lower jaw connector 17, form Article 1 drive path, people's lower jaw moves with lower jaw connector 17, i.e. realizes the rehabilitation training in the left and right direction of patient's lower jaw.
Stir shift fork 7 time bevel gear 8 and 10 is engaged, bevel gear 4 and 21 separates, sliding bevel gear 28 is axially positioned and fixes by alignment pin 5, servomotor 1 drives splined shaft 3 to rotate by decelerator 2, the bevel gear 8 and 10 of engagement realizes 90 motion conversions of axle, drives bent axle 11, connecting rod 12, rocking bar 13 to drive denture fixing device 16 to move, forms Article 2 drive path, people's lower jaw moves along with denture fixing device 16, i.e. realizes patient's lower jaw in sagittal plane along the rehabilitation training of water-drop-shaped orbiting motion.
Ramus of mandible support member 15, spring 14, frame 9 coordinate, it is ensured that patient, at sagittal plane needs of the most forward and backward light exercise along the motion process of water-drop-shaped track, i.e. realizes the flexible support of lower jaw.
Claims (2)
1. a lower jaw healing robot, including drive part, running part, executable portion, it is characterised in that: described drive part uses servomotor (1)；Described running part is made up of decelerator (2), splined shaft (3), sliding bevel gear one (4), fixed cone gear one (21), rotary shaft (20), cylindrical cam (19), roller follower (18), sleeve (6), shift fork (7), alignment pin (5), frame (9), sliding bevel gear two (8), fixed cone gear two (10), bent axle (11), connecting rod (12), rocking bar (13), connecting rod (22), shift fork handle (23), axle (24)；Described executable portion is made up of lower jaw connector (17), denture fixing device (16), ramus of mandible support member (15), spring (14), and described decelerator (2) is fixedly connected with splined shaft (3)；Described sleeve (6) is fixedly connected with sliding bevel gear one (4), sliding bevel gear two (8)；Described alignment pin (5) is respectively used to sliding bevel gear one (4), sliding bevel gear two (8) and the location of splined shaft (3) and fixes；Described rotary shaft (20) is fixedly connected with fixed cone gear one (21), cylindrical cam (19)；Described lower jaw connector (17) is fixedly connected with roller follower (18)；Described bent axle (11) is fixedly connected with fixed cone gear two (10)；Described connecting rod (12) respectively with bent axle (11), rocking bar (13) hinge-coupled；Described denture fixing device (16) is fixedly connected with connecting rod (12)；Described spring (14) is fixed between ramus of mandible support member (15) and frame (9)；Described connecting rod (22) is formed with shift fork (7) and movably couples, and is fixedly connected with axle (24)；Described shift fork (7) drives sliding bevel gear one (4) and sliding bevel gear two (8) to slide, when sliding bevel gear one (4) and fixed cone gear one (21) engagement, sliding bevel gear two (8) and fixed cone gear two (10) separate, described alignment pin (5) is to sliding bevel gear one (4) axially location and fixes, described servomotor (1) drives splined shaft (3) to rotate by decelerator (2), sliding bevel gear one (4) and fixed cone gear one (21) engagement realize 90 ° of motion conversions of axle, described rotary shaft (20) and cylindrical cam (19) are fixedly connected, driven roller driven member (18), lower jaw connector (17) moves, form Article 1 drive path, i.e. realize patient's lower jaw left, the rehabilitation training of right direction；Described shift fork (7) is stirred, when sliding bevel gear two (8) and fixed cone gear two (10) engagement, sliding bevel gear one (4) and fixed cone gear one (21) separate, described alignment pin (5) is to sliding bevel gear two (8) axially location and fixes, described servomotor (1) drives splined shaft (3) to rotate by decelerator (2), sliding bevel gear two (8) and fixed cone gear two (10) engagement realize 90 ° of motion conversions of axle, drive bent axle (11), connecting rod (12), rocking bar (13) and denture fixing device (16) motion, form Article 2 drive path, i.e. realize lower jaw in sagittal plane along the rehabilitation training of water-drop-shaped track.
Lower jaw healing robot the most according to claim 1, it is characterized in that: when patient's lower jaw carries out rehabilitation training in sagittal plane along water-drop-shaped track, described spring 14 is fixed be connected with ramus of mandible support member 15, frame 9, the needs of the most forward and backward light exercise during ensure that patient motion, i.e. realize the flexible support of lower jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610413038.0A CN105832498B (en) | 2016-06-13 | 2016-06-13 | Lower jaw healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610413038.0A CN105832498B (en) | 2016-06-13 | 2016-06-13 | Lower jaw healing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105832498A true CN105832498A (en) | 2016-08-10 |
| CN105832498B CN105832498B (en) | 2017-10-13 |
Family
ID=56575838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610413038.0A Expired - Fee Related CN105832498B (en) | 2016-06-13 | 2016-06-13 | Lower jaw healing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105832498B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106927381A (en) * | 2017-03-29 | 2017-07-07 | 国网山东省电力公司菏泽供电公司 | A kind of multi-purpose vehicle(MPV) self-rescuer |
| CN107440885A (en) * | 2017-09-11 | 2017-12-08 | 华北理工大学 | Lower jaw is opened and closed mouth healing robot |
| CN107595459A (en) * | 2017-11-02 | 2018-01-19 | 赵书学 | Temporomandibular joint recovery device |
| CN108000159A (en) * | 2017-12-20 | 2018-05-08 | 乐绪春 | A kind of efficient new material process equipment |
| CN108406510A (en) * | 2018-03-20 | 2018-08-17 | 冯斌斌 | A kind of shape memory Ti-Ni alloy, copper alloy material and product equipment |
| CN108420674A (en) * | 2018-03-29 | 2018-08-21 | 华北理工大学 | Temporomandibular joint recovery training appliance for recovery |
| RU2674236C1 (en) * | 2018-04-24 | 2018-12-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Самарский государственный медицинский университет" Министерства здравоохранения | Automated device of mechanical treatment of jaw joint |
| WO2021000480A1 (en) * | 2019-07-03 | 2021-01-07 | 江南大学 | Food simulation swallowing device and food simulation swallowing method |
| CN113274246A (en) * | 2021-05-14 | 2021-08-20 | 江苏医药职业学院 | Head, neck and face moving device for hemiplegic patient |
| CN114684297A (en) * | 2022-05-18 | 2022-07-01 | 湘潭大学 | Centipede-simulated robot based on backward inclination of main shaft |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0910997A2 (en) * | 1997-10-22 | 1999-04-28 | Ono Sokki Co., Ltd. | Jaw movement simulation method and system thereof |
| JP2001029364A (en) * | 1999-07-22 | 2001-02-06 | Univ Waseda | Mandibular movement device |
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| CN201727691U (en) * | 2010-08-04 | 2011-02-02 | 高全文 | Temporomandibular joint opening tractor |
| CN102626348A (en) * | 2012-04-19 | 2012-08-08 | 大连理工大学 | Mandibular movement imitating robot |
| CN204890502U (en) * | 2015-02-12 | 2015-12-23 | 王海英 | Lower jaw athletic training ware |
| CN205903400U (en) * | 2016-06-13 | 2017-01-25 | 华北理工大学 | Recovered robot of lower jaw |
-
2016
- 2016-06-13 CN CN201610413038.0A patent/CN105832498B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0910997A2 (en) * | 1997-10-22 | 1999-04-28 | Ono Sokki Co., Ltd. | Jaw movement simulation method and system thereof |
| JP2001029364A (en) * | 1999-07-22 | 2001-02-06 | Univ Waseda | Mandibular movement device |
| CN1439351A (en) * | 2003-03-28 | 2003-09-03 | 谷志远 | Passive oral cavity exercisers |
| CN201727691U (en) * | 2010-08-04 | 2011-02-02 | 高全文 | Temporomandibular joint opening tractor |
| CN102626348A (en) * | 2012-04-19 | 2012-08-08 | 大连理工大学 | Mandibular movement imitating robot |
| CN204890502U (en) * | 2015-02-12 | 2015-12-23 | 王海英 | Lower jaw athletic training ware |
| CN205903400U (en) * | 2016-06-13 | 2017-01-25 | 华北理工大学 | Recovered robot of lower jaw |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106927381A (en) * | 2017-03-29 | 2017-07-07 | 国网山东省电力公司菏泽供电公司 | A kind of multi-purpose vehicle(MPV) self-rescuer |
| CN107440885A (en) * | 2017-09-11 | 2017-12-08 | 华北理工大学 | Lower jaw is opened and closed mouth healing robot |
| CN107595459A (en) * | 2017-11-02 | 2018-01-19 | 赵书学 | Temporomandibular joint recovery device |
| CN108000159A (en) * | 2017-12-20 | 2018-05-08 | 乐绪春 | A kind of efficient new material process equipment |
| CN108406510A (en) * | 2018-03-20 | 2018-08-17 | 冯斌斌 | A kind of shape memory Ti-Ni alloy, copper alloy material and product equipment |
| CN108420674A (en) * | 2018-03-29 | 2018-08-21 | 华北理工大学 | Temporomandibular joint recovery training appliance for recovery |
| RU2674236C1 (en) * | 2018-04-24 | 2018-12-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Самарский государственный медицинский университет" Министерства здравоохранения | Automated device of mechanical treatment of jaw joint |
| WO2021000480A1 (en) * | 2019-07-03 | 2021-01-07 | 江南大学 | Food simulation swallowing device and food simulation swallowing method |
| CN113274246A (en) * | 2021-05-14 | 2021-08-20 | 江苏医药职业学院 | Head, neck and face moving device for hemiplegic patient |
| CN113274246B (en) * | 2021-05-14 | 2022-09-16 | 江苏医药职业学院 | Head, neck and face moving device for hemiplegic patient |
| CN114684297A (en) * | 2022-05-18 | 2022-07-01 | 湘潭大学 | Centipede-simulated robot based on backward inclination of main shaft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105832498B (en) | 2017-10-13 |
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