CN105832498B - Lower jaw healing robot - Google Patents
Lower jaw healing robot Download PDFInfo
- Publication number
- CN105832498B CN105832498B CN201610413038.0A CN201610413038A CN105832498B CN 105832498 B CN105832498 B CN 105832498B CN 201610413038 A CN201610413038 A CN 201610413038A CN 105832498 B CN105832498 B CN 105832498B
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- lower jaw
- fixedly connected
- fixed
- 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.)
- Expired - Fee Related
Links
- 230000035876 healing Effects 0.000 title claims abstract description 11
- 210000004373 mandible Anatomy 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 208000011580 syndromic disease Diseases 0.000 abstract description 5
- 210000001738 temporomandibular joint Anatomy 0.000 abstract description 5
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001717 pathogenic effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000015775 Mandibular disease 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
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000001847 jaw Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 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
A kind of lower jaw healing robot, belongs to medical instruments field, for aiding in above and below temporomandibular joint disturbance syndrome patient's lower jaw, the rehabilitation training of left and right directions.Its structure is main to be made up of servomotor, decelerator, splined shaft, two pairs of bevel gears, sleeve, shift fork, axle, connecting rod, shift fork handle, alignment pin, rotary shaft, cylindrical cam, roller follower, lower jaw connector, bent axle, connecting rod, rocking bar, denture fixing device, ramus of mandible support member, spring and frame, and the splined shaft is slidably connected with sliding bevel gear formation；The rotary shaft is fixedly connected with fixed bevel gear one and cylindrical cam；The lower jaw connector is fixedly connected with roller follower；The bent axle is fixedly connected with fixed bevel gear two；The connecting rod and bent axle, rocking bar hinge-coupled；The denture fixing device is fixedly connected with connecting rod；The spring is fixed between ramus of mandible support member and frame.The present apparatus is compact, and easy to operate, safety, cost is low, available for hospital or family rehabilitation training.
Description
Technical field
The invention belongs to medical instruments field, it is related to a kind of be particularly suitable for use under temporomandibular joint disturbance syndrome patient
Jaw healing robot.
Background technology
Temporomandibular joint disturbance syndrome（TMD）It is one of mandibular movement obstacle common form, pathogenic factor is failed to understand, has
Multiple pathogenic factor, WHO is included in the 4th oral epidemiology of influence human health.The accessible motion of lower jaw is to ensure
The mankind such as swallow, sing, exchange and snored at the premise being smoothed out of action, and the early recovery of Mandibular diseases can change significantly
The quality of life of kind patient.Traditional treatment method needs therapist according to factors such as conditions of patients, the causes of disease, repeatedly to patient
Lower jaw carries out repetition training action, and rehabilitation efficacy and time more depend on the career in medicine experience of doctor.As can be seen here, a peace
Entirely, effectively, the research of the lower jaw healing robot that multiple rehabilitation training can be carried out to patient's lower jaw it is particularly urgent.The lower jaw of people
Above and below being related to, the motion in three directions around, the rehabilitation training effect of patient depend primarily on above and below, two sides in left and right
To rehabilitation.At present, there was only Japanese Waseda University for the business healing robot of temporomandibular joint disturbance syndrome patient
The WJ Series machine people of development, involving great expense and being not suitable for patient carries out rehabilitation training at home.
The content of the invention
On the basis of the problem of present invention runs into when considering the training of temporomandibular joint disturbance syndrome patients ' recovery,
Have studied it is a it is simple in construction, patient can be aided in complete above and below lower jaw, the lower jaw healing robot of the two kinds of directions in left and right motion.
Above-mentioned purpose realizes that used technical scheme is：A kind of lower jaw healing robot, including drive part, driving section
Point, executable portion, the drive part uses servomotor；Running part by 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 follower composition；
The decelerator output end couples with splined shaft；The sleeve is fixedly connected with two sliding bevel gears, and is formed with splined shaft
Movable connection；The connecting rod and shift fork formed it is movable couple, be fixedly connected with axle；The shift fork handle is fixedly connected with axle；
The fixed bevel gear one is fixedly connected with rotary shaft；The cylindrical cam is fixedly connected with rotary shaft；The fixed bevel gear
Two are fixedly connected with crank；The connecting rod forms movable couple with bent axle, rocking bar respectively；Executable portion is by ramus of mandible support member, tooth
Support, spring, lower jaw connector composition, the lower jaw connector are fixedly connected with roller follower；The denture fixing device is fixed with connecting rod
Connection；The spring is fixedly connected with ramus of mandible support member, frame.
The beneficial effects of the invention are as follows：Invention emulates above and below human body lower jaw, the two kinds of main movements in left and right, patient can be with
For own actual situation, switch the engagement or separation of two pairs of bevel gears at any time, to realize that the rehabilitation of lower jaw different directions is instructed
Practice.Present apparatus compact conformation, easy to operate, rehabilitation course is safe, and cost is low, can replace cumbersome manual therapeutic, it is adaptable to
Rehabilitation training in hospital and family.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention
Fig. 2 is four-bar mechanism schematic diagram
Fig. 3 is shifting fork structure schematic diagram
In figure：1- servomotors；2- decelerators；3- splined shafts；4- slides bevel gear one；5- alignment pins；6- sleeves；7- is dialled
Fork；8- slides bevel gear two；9- frames；10- fixes bevel gear two；11- bent axles；12- connecting rods；13- rocking bars；14- springs；15-
Ramus of mandible support member；16- denture fixing devices；17- lower jaw connectors；18- roller followers；19- cylindrical cams；20- rotary shafts；21- is fixed
Bevel gear one；22- connecting rods；23- shift fork handles；24- axles.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, lower jaw healing robot of the invention, including drive part, running part,
Executable portion.Its structure is by servomotor 1, decelerator 2, splined shaft 3, two pairs of bevel gears 4 and 21,8 and 10, alignment pin 5, sleeve
6th, 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
15th, denture fixing device 16, lower jaw connector 17, roller follower 18, cylindrical cam 19, rotary shaft 20 are constituted.Decelerator 2, one end connection
Servomotor 1, one end connection splined shaft 3；Sleeve 6, one end is fixedly connected with sliding bevel gear 1, one end and sliding bevel gear
28 are fixedly connected；Alignment pin 5 is used to slide bevel gear 4,8 respectively in the positioning and fixation of splined shaft 3；Rotary shaft 20, one end with
Fixed bevel gear 1 is fixedly connected, and one end is fixedly connected with cylindrical cam 19；Roller follower 18 is consolidated with lower jaw connector 17
Fixed connection；Bent axle 11 is fixedly connected with fixed bevel gear 2 10；Connecting rod 12 forms revolute pair with bent axle 11, rocking bar 13 respectively, and
It is fixedly connected with denture fixing device 16；Spring 14 is fixed between ramus of mandible support member 15 and frame 9, is lower jaw above-below direction rehabilitation training
Flexible apparatus；Connecting rod 22, one end and the formation revolute pair of shift fork 7, one end is fixedly connected with axle 24 using key；Axle 24 and shift fork handle
Hand 23 is fixedly connected.
The specific work process of the present invention：
When stirring shift fork 7 so that bevel gear 4 and 21 engages, bevel gear 8 and 10 separates, 5 pairs of sliding bevel gears 1 of alignment pin
Axially position and fixation are carried out, servomotor 1 drives splined shaft 3 to rotate by decelerator 2, the bevel gear 4 and 21 of engagement is realized
The 90o motion conversions of axle, rotary shaft 20 and cylindrical cam 19 are fixedly connected, driving roller follower 18 and lower jaw connector 17
Left and right movement, forms first drive path, and people's lower jaw is moved with lower jaw connector 17, that is, realizes the left and right direction of patient's lower jaw
Rehabilitation training.
When stirring shift fork 7 so that bevel gear 8 and 10 engages, bevel gear 4 and 21 separates, 5 pairs of sliding bevel gears 28 of alignment pin
Axially position and fixation are carried out, servomotor 1 drives splined shaft 3 to rotate by decelerator 2, the bevel gear 8 and 10 of engagement is realized
The 90o motion conversions of axle, driving bent axle 11, connecting rod 12, rocking bar 13 drive denture fixing device 16 to move, form Article 2 drive path, people
Lower jaw is moved with denture fixing device 16, that is, realizes the rehabilitation training that patient's lower jaw is moved in sagittal plane along water-drop-shaped track.
Ramus of mandible support member 15, spring 14, frame 9 coordinate, it is ensured that patient's being moved through along water-drop-shaped track in sagittal plane
The flexible support of lower jaw is physiologically realized the need for forward and backward light exercise in journey.
Claims (2)
1. a kind of lower jaw healing robot, including drive part, running part, executable portion, it is characterised in that：The drive division
Divide and use servomotor（1）；The running part is by decelerator（2）, splined shaft（3）, sliding bevel gear one（4）, fixed cone tooth
Wheel one（21）, rotary shaft（20）, cylindrical cam（19）, roller follower（18）, sleeve（6）, shift fork（7）, alignment pin（5）, machine
Frame（9）, sliding bevel gear two（8）, fixed bevel gear two（10）, bent axle（11）, connecting rod（12）, rocking bar（13）, connecting rod（22）、
Shift fork handle（23）, axle（24）Composition；The executable portion is by lower jaw connector（17）, denture fixing device（16）, ramus of mandible support member（15）、
Spring（14）Composition, the decelerator（2）With splined shaft（3）It is fixedly connected；The sleeve（6）With sliding bevel gear one（4）, it is sliding
Move bevel gear two（8）It is fixedly connected；The alignment pin（5）It is respectively used to slide bevel gear one（4）, sliding bevel gear two（8）With
Splined shaft（3）Positioning and fixation；The rotary shaft（20）With fixed bevel gear one（21）, cylindrical cam（19）It is fixedly connected；
The lower jaw connector（17）With roller follower（18）It is fixedly connected；The bent axle（11）With fixed bevel gear two（10）It is fixed
Connection；The connecting rod（12）Respectively with bent axle（11）, rocking bar（13）Hinge-coupled；The denture fixing device（16）With connecting rod（12）Fixed connection
Connect；The spring（14）It is fixed on ramus of mandible support member（15）And frame（9）Between；The connecting rod（22）With shift fork（7）Formed
Movable connection, with axle（24）It is fixedly connected；The shift fork（7）Drive sliding bevel gear one（4）With sliding bevel gear two（8）It is sliding
It is dynamic, slide bevel gear one（4）With fixed bevel gear one（21）During engagement, bevel gear two is slid（8）With fixed bevel gear two（10）
Separation, the alignment pin（5）To sliding bevel gear one（4）Axially position and fixation, the servomotor（1）Pass through decelerator
（2）Drive splined shaft（3）Rotate, slide bevel gear one（4）With fixed bevel gear one（21）Engagement realizes that 90 ° of motions of axle turn
Change, the rotary shaft（20）And cylindrical cam（19）It is fixedly connected, drives roller follower（18）, lower jaw connector（17）Fortune
It is dynamic, first drive path is formed, that is, realizes the rehabilitation training in the left and right direction of patient's lower jaw；The shift fork（7）Stir, slide
Bevel gear two（8）With fixed bevel gear two（10）During engagement, bevel gear one is slid（4）With fixed bevel gear one（21）Separation, institute
State alignment pin（5）To sliding bevel gear two（8）Axially position and fixation, the servomotor（1）Pass through decelerator（2）Driving flower
Key axle（3）Rotate, slide bevel gear two（8）With fixed bevel gear two（10）90 ° of motion conversions of axle are realized in engagement, drive bent axle
（11）, connecting rod（12）, rocking bar（13）And denture fixing device（16）Motion, forms Article 2 drive path, that is, realizes lower jaw in sagittal plane
Along the rehabilitation training of water-drop-shaped track.
2. lower jaw healing robot according to claim 1, it is characterised in that：When patient's lower jaw in sagittal plane along water-drop-shaped
When track carries out rehabilitation training, the spring（14）With ramus of mandible support member（15）, frame（9）It is fixedly connected, it is ensured that Huan Zheyun
The flexible support of lower jaw is physiologically realized the need for forward and backward light exercise during dynamic.
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 CN105832498A (en) | 2016-08-10 |
| CN105832498B true 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) |
Families Citing this family (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 |
| CN108000159B (en) * | 2017-12-20 | 2018-08-17 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | A kind of efficient new material process equipment |
| CN108406510B (en) * | 2018-03-20 | 2019-02-01 | 广东华于科技股份有限公司 | Process equipment for shape memory Ti-Ni alloy, copper alloy material and product |
| 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 |
| CN110299057B (en) * | 2019-07-03 | 2024-03-01 | 江南大学 | Food simulation swallowing device and food simulation swallowing method |
| 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 |
| CN114684297B (en) * | 2022-05-18 | 2023-03-24 | 湘潭大学 | Centipede-simulated robot based on backward inclination of main shaft |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6120290A (en) * | 1997-10-22 | 2000-09-19 | Ono Sokki Co., Ltd. | Jaw movement simulator, jaw movement simulation system, and jaw movement simulation method |
| JP2001029364A (en) * | 1999-07-22 | 2001-02-06 | Univ Waseda | Mandibular movement device |
| CN1193726C (en) * | 2003-03-28 | 2005-03-23 | 谷志远 | Passive oral cavity exercisers |
| CN201727691U (en) * | 2010-08-04 | 2011-02-02 | 高全文 | Temporomandibular joint opening tractor |
| CN102626348B (en) * | 2012-04-19 | 2014-04-02 | 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN105832498A (en) | 2016-08-10 |
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