CN105853148A - Elbow and knee joint traction rehabilitation robot and rope anti-twining structure thereof - Google Patents

Elbow and knee joint traction rehabilitation robot and rope anti-twining structure thereof Download PDF

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Publication number
CN105853148A
CN105853148A CN201610368668.0A CN201610368668A CN105853148A CN 105853148 A CN105853148 A CN 105853148A CN 201610368668 A CN201610368668 A CN 201610368668A CN 105853148 A CN105853148 A CN 105853148A
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China
Prior art keywords
pulley
traction
main body
robot
bed main
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Granted
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CN201610368668.0A
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Chinese (zh)
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CN105853148B (en
Inventor
赵劲松
姜峰
李想
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Harbin Tianyu Rehabilitation Medical Robot Co Ltd
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Harbin Tianyu Rehabilitation Medical Robot Co Ltd
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    • 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
    • A61H1/0218—Drawing-out devices
    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0142—Beds
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • 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
    • A61H2201/50—Control means thereof
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0443—Position of the patient substantially horizontal
    • A61H2203/0456—Supine
    • 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
    • A61H2205/06—Arms
    • 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
    • A61H2205/10—Leg
    • A61H2205/102—Knee

Abstract

The invention discloses an elbow and knee joint traction rehabilitation robot and a rope anti-twining structure thereof. The rope anti-twining structure comprises a pulley body, a pulley casing, a pulley support sheet and a pulley pad block, wherein the pulley casing wraps the pulley body; the pulley body can rotate in the pulley casing; a hole through which a traction rope can pass is reserved in the pulley casing; the pulley support sheet is used for connecting the pulley body and the pulley pad block; the pulley casing is also connected onto the pulley support sheet; the pulley pad block is fixedly connected onto a slide block. The robot provided by the invention has the advantages that the precise regulation and control on the traction angle and the traction force of the elbow joint and the knee joint can be realized; a patient can realize omnibearing rehabilitation treatment; the rehabilitation time of elbow and knee joint diseases is greatly shortened.

Description

A kind of patella ulnaris joint traction recovering robot and the antiwind structure of rope thereof
[technical field]
The present invention relates to rehabilitation medical robot field, particularly relate to a kind of patella ulnaris joint traction recovering robot And the antiwind structure of rope.
[background technology]
Knee joint disorders be knee joint and surrounding fracture operation thereof and inside and outside fixing after the most common complication. Owing to long-time braking, limb activity reduce, Quadriceps mechanism can be caused because of blood and lymphostasis and cause group Knit edema, fibrin formation, fiber deposit in interstice, and cause Surrounding muscles fibrosis, contracture and Adhesion, suprapatellar bursa adhesion, so that being wholly absent, makes the slip between quadriceps femoris and tendon and femur disappear, Thus joint motion is limited.After elbow joint wound, due to the interior and impact of (outward) fixing long-term immobilization, mainly The dysfunction that sequela is joint tissue adhesion and cicatricial contracture causes.Clinical manifestation is that elbow joint is actively lived Dynamic limited with passive activity scope, severe patient involves shoulder joint and carpal joint.
After elbow joint wound, due to the interior and impact of (outward) fixing long-term immobilization, main sequela is joint group Knit adhesion and dysfunction that cicatricial contracture causes.Clinical manifestation is elbow joint active movement and passive activity model Enclosing limited, severe patient involves shoulder joint and carpal joint
Joint Mobilization: by therapist carry out passive elbow joint bend and stretch, spinfunction training.Need protecting Reason personnel supervise and guide down and are the patient that elbow joint bends and stretches, spinfunction is trained.
At present, clinical primary treatments has Drug therapy, drawing method, massotherapy, Physical.Traction The treatment of therapy be by therapist carry out passive elbow joint bend and stretch, spinfunction training.Need in caregiver Member supervises and guides down and is the patient that elbow joint bends and stretches, spinfunction is trained.The most this kind of therapy must be just Carry out under the guidance of rule doctor, be otherwise easy to allow the state of an illness aggravate.But, doctor's limited amount and patient are relatively Just it is difficult to time many make all patients all obtain rehabilitation training timely, now carries out health if by medical machinery Multiple just have the biggest efficiency and the effect wishing to improve rehabilitation.Along with the development of medical machinery, much study Person utilizes the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, and integrative medicine theory sets The recovery training method that meter makes new advances.Rehabilitation medical robot can be helped as a kind of automatization rehabilitation medicine equipment Help patient to carry out science and effective rehabilitation training to recover the motion function of its damage location.Current domestic pin Lumbar vertebra rehabilitation treatment is had some patent achievements, and these achievements all have limitation definitely, if The degree of freedom of motion is less, simulation doctor's therapeutic process scarce capacity, fixing not steadily, dress the most easypro Fit.
[summary of the invention]
Present invention is generally directed to joint function disturbance patient/old people's degenerative joint patient/joint injury/shin key Fracture/post-operative recovery/hemiplegias etc., are carried out in conjunction with robotics, kinesiology, ergonomics scheduling theory Machine Design, multi-joint traction recovering robot can meet elbow joint and the traction of knee joint sufferer in various degree Demand, it is also possible to make doctor/rehabilitation teacher to joint disease physics traction therapeutic method and the standard for the treatment of prescription Change.
In order to achieve the above object, the technical scheme that the present invention proposes is as follows:
A kind of patella ulnaris joint traction recovering robot, this robot includes support component, bed main body, a fixing band Quick-release mechanism, drag rope, traction angle governor motion, gentle force controlling organization, computer control and adopt Collecting system；
Described support component is for supporting all parts of described robot；
Described bed main body is for supporting and immobilized patients, and described fixing band quick-release mechanism is arranged in a main body, and Make symmetrical with the axis of bed main body, for quickly connecting and removal fixing band；The lower section of described bed main body There is a cylinder, by the flexible height that can regulate a main body of cylinder；
Described traction angle governor motion is for regulating the traction angle of drag rope, and it includes screw mandrel slide unit, control Motor processed and displacement transducer；Described screw mandrel slide unit is vertically fixed on a support component, the cunning on screw mandrel slide unit Block can vertically slide up and down；Described control motor is used for pulling this slide block to slide on screw mandrel slide unit； Described slide block secures a pulley towards one end of bed main body, for through drag rope；Described displacement passes Sensor can measure slide block displacement on screw mandrel slide unit；
Described gentle force controlling organization includes traction electric machine, decelerator, shaft coupling, torque sensor and line wheel； Described traction electric machine is connected with this decelerator, exports moment of torsion, described shaft coupling one end transmission by decelerator Part connection reducer, other end output is connected to line wheel, this line wheel is wrapped drag rope.Described moment of torsion Sensor is arranged between shaft coupling and line wheel, for detection in real time and the size of feedback output moment of torsion；
Described drag rope takes turns pull-out from the line of gentle force controlling organization, through described in traction angle governor motion Pulley on slide block, then be fixed on shank or the forearm of patient；
Described pulley includes pulley body, pulley housings, pulley support sheet and pulley cushion block, described pulley housings Being wired up by pulley body, pulley body can rotate in this pulley housings, pulley housings leaves and can wear Crossing the hole of drag rope, described pulley support sheet is used for connecting pulley body and pulley cushion block, described turbine shroud Body is also connected on described pulley support sheet, and described pulley cushion block is fixedly connected on described slide block；
Described computer controls to pass with above-mentioned control motor, traction electric machine and above-mentioned displacement respectively with acquisition system Sensor, torque sensor, cylinder are connected, and can calculate traction by the testing result of institute's displacement sensors Angle, can control described control motor according to the traction angle arranged and pull slide block, can pass according to described moment of torsion The signal of sensor feedback, controls the output moment of torsion of traction electric machine, it is achieved the soft control of pull strength；Can control Stretching of described cylinder；Can actively control the work of above-mentioned two motor, it is possible to passive two motors of acquisition and recording Work process, the procedural information collected is archived in database file, afterwards can be according to described data Library file controls motor work, thus reappears distraction procedure.
Further, this robot also includes man-machine interaction interface, and described computer controls to pass through with acquisition system This man-machine interaction interface operates.
Preferably, described bed main body is provided with 2-10 fixing band quick-release mechanism.
Further, described support component includes the components of supporting bed main body, also includes supporting traction angle Governor motion and the components of gentle force controlling organization.
The solution have the advantages that: the robot of the present invention can realize elbow joint and knee joint traction angle With the control accurate of pull strength size, patient can be carried out omnibearing rehabilitation, be greatly shortened patella ulnaris The rehabilitation duration of joint disease.
[accompanying drawing explanation]
Accompanying drawing described herein is used to provide a further understanding of the present invention, constitutes of the application Point, but it is not intended that inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is the population structure schematic diagram of the present invention；
Fig. 2 is the traction angle governor motion schematic diagram of the present invention；
Fig. 3 is the gentle force controlling organization schematic diagram of the present invention；
Fig. 4 and Fig. 5 is the antiwind structural representation of rope of pulley of the present invention；
Fig. 6 is the pulley structure schematic diagram eliminating pulley housings.
[detailed description of the invention]
The present invention, illustrative examples therein is described in detail below in conjunction with accompanying drawing and specific embodiment And explanation is only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Seeing accompanying drawing 1, the patella ulnaris joint traction recovering robot of the present invention includes support group on population structure Part, bed main body, fixing band quick-release mechanism, drag rope, traction angle governor motion, gentle force control machine Structure, computer control and acquisition system, man-machine interaction interface.
Described support component, for supporting all parts of robot of the present invention, props up including being positioned at below a main body The components of straightener main body, also includes supporting traction angle governor motion and the assembly of gentle force controlling organization Part.
Described bed main body, for supporting and immobilized patients, is provided with 2-10 fixing band fast in described bed main body Release mechanism, described fixing band quick-release mechanism is made symmetrical with the axis of bed main body, for quickly connecting and unloading Except fixing band.When the thigh of patient or large arm are positioned in a main body, fix thigh or big with fixing band Arm, the two ends of fixing band are connected on a fixing band quick-release mechanism.
There is a cylinder in the lower section of bed main body, by the flexible height that can regulate a main body of cylinder, with suitable Answer the height requirement of different patients.Computer controls to control the flexible of this cylinder with acquisition system.
See accompanying drawing 2, it illustrates the traction angle governor motion of the present invention.Described traction angle regulation machine Structure is for regulating the traction angle of drag rope, and it includes screw mandrel slide unit, controls motor, displacement transducer. Described screw mandrel slide unit is vertically fixed on a support component so that the slide block of screw mandrel slide unit can vertically be gone up Lower slider；Described control motor is used for pulling this slide block to slide up and down on screw mandrel slide unit；Described slide block towards One end of bed main body secures a pulley, for through drag rope；Institute's displacement sensors can be measured Slide block displacement on screw mandrel slide unit, calculates and controls to calculate traction with acquisition system by the displacement of slide block The traction angle of rope, or the displacement of slide block is calculated according to the traction angle set, then control described Controlling motor pulls slide block to arrive corresponding position.
Seeing accompanying drawing 4-6, it illustrates the antiwind structure chart of rope of pulley used in the present invention, it includes Pulley body, pulley housings, pulley support sheet and pulley cushion block.Pulley body is packed by described pulley housings Getting up, pulley body can rotate in this pulley housings, and pulley housings leaves the hole that may pass through drag rope, Thus drag rope can be prevented to be wound around；Described pulley support sheet is used for connecting pulley body and pulley cushion block, institute Stating pulley housings to be also connected on described pulley support sheet, described pulley cushion block is the connector of pulley and slide block.
See accompanying drawing 3, it illustrates the gentle force controlling organization of the present invention, described gentle force controlling organization bag Include traction electric machine, decelerator, shaft coupling, torque sensor and line wheel；Described traction electric machine and this decelerator Connecting, export moment of torsion by decelerator, described shaft coupling one end driving member connection reducer, the other end is defeated Go out to be connected to line wheel, this line wheel is wrapped drag rope.Described torque sensor is arranged on shaft coupling and line Between wheel, for detection in real time and the size of feedback output moment of torsion.When traction electric machine works, it can drive Line wheel rotates, thus pulling traction rope rope, it is achieved traction kneed to elbow.Computer controls and gathers system The signal that system can feed back according to described torque sensor, controls the output moment of torsion of traction electric machine, it is achieved traction The soft control of power.
Described drag rope takes turns pull-out from the line of gentle force controlling organization, through the cunning of traction angle governor motion Pulley on block, then be fixed on shank or the forearm of patient.
Described computer control with acquisition system respectively with above-mentioned control motor, traction electric machine and displacement sensing Device, torque sensor are connected, and on the one hand can actively control the motion of two motors, to arrange the angle of traction Degree and pull strength；On the other hand exercise data and the detection of two sensors of said two motor can be gathered Data, by the archives data that collects to database file, afterwards can be according to described database file control Motor processed works, thus reappears patella ulnaris joint distraction procedure.
Two motors are controlled to be controlled by man-machine interaction interface with acquisition system by computer, can complete To the active Loading Control (the most directly controlling the motion of motor to draw patient) of two motors, passively load Information gathering (i.e. first actively controlled by doctor, when the patient being fixed in robot of the present invention is drawn, Computer controls to record the work process of each motor with acquisition system), the information gathered is carried out the most multiple Now control (i.e. the motor process of each motor that reproduction is recorded is to simulate the therapeutic process of doctor).
The work process of the present invention is as follows:
When using the healing robot of the present invention, patient first couches in the bed main body of the present invention, position adjustment After He Shi, first patient thigh or large arm fixing band are fixed in a main body, then that drag rope is solid Surely shank or the forearm of patient it are connected to, by computer control and acquisition system, the adjustable bed main body of doctor Height, traction angle also can be set, computer controls with acquisition system by adjusting traction angle regulation dress The slide position put, it is achieved the adjustment of traction angle, then doctor can be controlled by computer and gather system System operates soft force control device, draws cervical vertebra, and its Computer controls with acquisition system according to institute State the signal of torque sensor assembly feedback, control the output moment of torsion of described traction electric machine, it is achieved pull strength Soft control.Computer controls to gather the work process of each motor with acquisition system and store number According in library file, after whole process collection storing, according to the information of storage, each motor is carried out Actively load, reappear the output of each motor, it is achieved the simulation to medical treatment process.By regulation motor Loading frequency can regulate the speed of the output of motor in distraction procedure.When reusing, can direct basis The file stored directly carries out rehabilitation.
The above is only the better embodiment of the present invention, therefore all according to described in present patent application scope The equivalence that structure, feature and principle are done changes or modifies, in the range of being all included in present patent application.

Claims (4)

1. a patella ulnaris joint traction recovering robot, it is characterised in that this robot include support component, Bed main body, fixing band quick-release mechanism, drag rope, traction angle governor motion, gentle force controlling organization, Computer controls and acquisition system；
Described support component is for supporting all parts of described robot；
Described bed main body is for supporting and immobilized patients, and described fixing band quick-release mechanism is arranged in a main body, and Make symmetrical with the axis of bed main body, for quickly connecting and removal fixing band；The lower section of described bed main body There is a cylinder, by the flexible height that can regulate a main body of cylinder；
Described traction angle governor motion is for regulating the traction angle of drag rope, and it includes screw mandrel slide unit, control Motor processed and displacement transducer；Described screw mandrel slide unit is vertically fixed on a support component, the cunning on screw mandrel slide unit Block can vertically slide up and down；Described control motor is used for pulling this slide block to slide on screw mandrel slide unit； Described slide block secures a pulley towards one end of bed main body, for through drag rope；Described displacement passes Sensor can measure slide block displacement on screw mandrel slide unit；
Described gentle force controlling organization includes traction electric machine, decelerator, shaft coupling, torque sensor and line wheel； Described traction electric machine is connected with this decelerator, exports moment of torsion, described shaft coupling one end transmission by decelerator Part connection reducer, other end output is connected to line wheel, this line wheel is wrapped drag rope.Described moment of torsion Sensor is arranged between shaft coupling and line wheel, for detection in real time and the size of feedback output moment of torsion；
Described drag rope takes turns pull-out from the line of gentle force controlling organization, through described in traction angle governor motion Pulley on slide block, then be fixed on shank or the forearm of patient；
Described pulley includes pulley body, pulley housings, pulley support sheet and pulley cushion block, described pulley housings Being wired up by pulley body, pulley body can rotate in this pulley housings, pulley housings leaves and can wear Crossing the hole of drag rope, described pulley support sheet is used for connecting pulley body and pulley cushion block, described turbine shroud Body is also connected on described pulley support sheet, and described pulley cushion block is fixedly connected on described slide block；
Described computer controls to pass with above-mentioned control motor, traction electric machine and above-mentioned displacement respectively with acquisition system Sensor, torque sensor, cylinder are connected, and can calculate traction by the testing result of institute's displacement sensors Angle, can control described control motor according to the traction angle arranged and pull slide block, can pass according to described moment of torsion The signal of sensor feedback, controls the output moment of torsion of traction electric machine, it is achieved the soft control of pull strength；Can control Stretching of described cylinder；Can actively control the work of above-mentioned two motor, it is possible to passive two motors of acquisition and recording Work process, the procedural information collected is archived in database file, afterwards can be according to described data Library file controls motor work, thus reappears distraction procedure.
Patella ulnaris joint traction recovering robot the most according to claim 1, it is characterised in that this machine People also includes man-machine interaction interface, and described computer controls to be carried out by this man-machine interaction interface with acquisition system Operation.
3., according to the patella ulnaris joint traction recovering robot described in claim 1-2 any one, its feature exists In, described bed main body is provided with 2-10 fixing band quick-release mechanism.
4., according to the patella ulnaris joint traction recovering robot described in claim 1-3 any one, its feature exists In, described support component includes the components of supporting bed main body, also includes supporting traction angle governor motion Components with gentle force controlling organization.
CN201610368668.0A 2016-05-30 2016-05-30 A kind of patella ulnaris joint traction recovering robot and its antiwind structure of rope Active CN105853148B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393073A (en) * 2016-11-18 2017-02-15 武汉大学 Portable type flexible-elbow-joint exoskeleton robot
CN109937123A (en) * 2016-12-22 2019-06-25 株式会社久保田 Ancillary equipment

Citations (5)

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