CN105853148B - A kind of patella ulnaris joint traction recovering robot and its antiwind structure of rope - Google Patents

A kind of patella ulnaris joint traction recovering robot and its antiwind structure of rope Download PDF

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Publication number
CN105853148B
CN105853148B CN201610368668.0A CN201610368668A CN105853148B CN 105853148 B CN105853148 B CN 105853148B CN 201610368668 A CN201610368668 A CN 201610368668A CN 105853148 B CN105853148 B CN 105853148B
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China
Prior art keywords
pulley
traction
main body
sliding block
housings
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CN201610368668.0A
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Chinese (zh)
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CN105853148A (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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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024Knee
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277Elbow
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0119Support for the device
    • A61H2201/0138Support for the device incorporated in furniture
    • A61H2201/0142Beds
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635Hand or arm, e.g. handle
    • A61H2201/1638Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2203/00Additional characteristics concerning the patient
    • A61H2203/04Position of the patient
    • A61H2203/0443Position of the patient substantially horizontal
    • A61H2203/0456Supine
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • A61H2205/102Knee

Abstract

The invention discloses a kind of patella ulnaris joint traction recovering robot and its antiwind structure of rope, the structure includes pulley body, pulley housings, pulley support piece and pulley cushion block, the pulley housings wire up pulley body, pulley body can rotate in the pulley housings, the hole that may pass through drag rope is left in pulley housings, the pulley support piece is used to connect pulley body and pulley cushion block, the pulley housings are also connected on the pulley support piece, and the pulley cushion block is fixedly connected on the sliding block.The robot of the present invention can realize elbow joint and knee joint traction angle and the control accurate of tractive force size, can carry out comprehensive rehabilitation to patient, greatly shorten the rehabilitation duration of patella ulnaris joint disease.

Description

A kind of patella ulnaris joint traction recovering robot and its antiwind structure of rope
【Technical field】
The present invention relates to rehabilitation medical robot field, more particularly to a kind of patella ulnaris joint traction recovering robot and its rope The antiwind structure of rope.
【Background technology】
Knee joint disorders are common complication after knee joint and its surrounding fracture operation and inside and outside fixation.Due to Braking for a long time, limb activity are reduced, and Quadriceps mechanism tissue edema, fiber caused by blood and lymphostasis can be caused to ooze Go out, fiber is deposited in tissue space, and causes Surrounding muscles fibrosis, contracture and adhesion, suprapatellar bursa adhesion so that disappear completely Lose, the slip between quadriceps muscle of thigh and its tendon and femur is disappeared, thus joint motion is limited.After elbow joint wound, due to The influence of interior and (outer) fixed long-term immobilization, main sequelae is dysfunction caused by joint tissue adhesion and cicatricial contracture. Clinical manifestation is that elbow joint active movement and passive activity scope are limited, and severe patient involves shoulder joint and wrist joint.
After elbow joint wound, due to the influence of interior and (outer) fixed long-term immobilization, main sequelae is joint tissue adhesion With dysfunction caused by cicatricial contracture.Clinical manifestation is that elbow joint active movement and passive activity scope are limited, severe patient's ripple And shoulder joint and wrist joint
Joint Mobilization:By therapist carry out passive elbow joint bend and stretch, spinfunction training.Need to supervise in nursing staff Superintend and direct the patient for doing that elbow joint is bent and stretched, spinfunction is trained under instructing.
At present, clinical primary treatments have drug therapy, drawing method, massage, Physical.The treatment of traction treatment Be by therapist carry out passive elbow joint bend and stretch, spinfunction training.Need to do elbow joint in the case where nursing staff supervises and guides Bend and stretch, the patient of spinfunction training.But this kind of therapy must be carried out under the guidance of regular doctor, otherwise be easy to allow The state of an illness is aggravated.However, doctor's limited amount and be just not easy to make all patients all obtain timely rehabilitation training during more patient, this When carry out rehabilitation if by medical machinery and just have the very big efficiency and effect for wishing to improve rehabilitation.It is continuous with medical machinery Development, Many researchers utilize the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, and integrative medicine theory is set Count out new recovery training method.Rehabilitation medical robot can help patient to carry out as a kind of automation rehabilitation medicine equipment Science and effective rehabilitation training recover the motion function of its damage location.Domestic having for lumbar vertebra rehabilitation treatment at present Some patent achievements, and these achievements have definitely limitation, if the free degree of motion is less, simulation doctor treated Journey scarce capacity, fixation is not steady enough, wearing is not comfortable etc. enough.
【The content of the invention】
Present invention is generally directed to the fracture of joint function disturbance patient/the elderly's degenerative joint patient/joint injury/shin key/ Post-operative recovery/hemiplegia etc., Machine Design is carried out with reference to robotics, human cinology, ergonomics scheduling theory, multi-joint is led Draw the traction requirements that healing robot can meet different degrees of elbow joint and knee joint sufferer, doctor/rehabilitation teacher couple can also be made The standardization of joint disease physics traction therapeutic method and treatment prescription.
In order to achieve the above object, technical scheme proposed by the present invention is as follows:
A kind of patella ulnaris joint traction recovering robot, the robot include support component, bed main body, fixing band and unloaded the goods from the airplane soon Structure, drag rope, traction angle governor motion, gentle force controlling organization, computer control and acquisition system;
The support component is used for all parts for supporting the robot;
The bed main body is used to support and immobilized patients, the fixing band quick-release mechanism are arranged in a main body, and with bed The axis of main body make it is symmetrical, for quickly connect and removal fixing band;The lower section of the bed main body has a cylinder, passes through The flexible height that can adjust a main body of cylinder;
The traction angle governor motion is used for the traction angle for adjusting drag rope, and it includes screw mandrel slide unit, control electricity Machine and displacement transducer;The screw mandrel slide unit is vertically fixed in support component, and the sliding block on screw mandrel slide unit can be along Vertical Square To sliding up and down;The controlled motor is used to pull the sliding block to slide on screw mandrel slide unit;The sliding block towards bed main body one End secures a pulley, for through drag rope;Institute's displacement sensors can measure position of the sliding block on screw mandrel slide unit Move;
The gentle force controlling organization includes traction electric machine, decelerator, shaft coupling, torque sensor and line wheel;It is described to lead Draw motor to be connected with the decelerator, by decelerator output torque, shaft coupling one end driving member connection reducer is another End output is connected to line wheel, and drag rope is wrapped in the line wheel.The torque sensor is arranged between shaft coupling and line wheel, For detecting and feeding back the size of output torque in real time;
The drag rope pulls out from the line wheel of gentle force controlling organization, through the sliding block of traction angle governor motion On pulley, then be fixed on the shank or forearm of patient;
The pulley includes pulley body, pulley housings, pulley support piece and pulley cushion block, and the pulley housings are by pulley Body is wired up, and pulley body can rotate in the pulley housings, and the hole that may pass through drag rope, institute are left in pulley housings Pulley support piece to be stated to be used to connect pulley body and pulley cushion block, the pulley housings are also connected on the pulley support piece, The pulley cushion block is fixedly connected on the sliding block;
Computer control and acquisition system respectively with above-mentioned controlled motor, traction electric machine and above-mentioned displacement sensing Device, torque sensor, cylinder are connected, and the angle of traction can be calculated by the testing results of institute's displacement sensors, can be according to setting The traction angle put controls the controlled motor to pull sliding block, the signal that can be fed back according to the torque sensor, control traction The output torque of motor, realize the soft control of tractive force;It can control the flexible of the cylinder;Can active control above-mentioned two motor Work, also can passive two motors of acquisition and recording the course of work, the procedural information collected is archived to database file In, it can be worked afterwards according to the database file controlled motor, so as to reappear distraction procedure.
Further, the robot also includes man-machine interaction interface, and the computer control passes through the people with acquisition system Machine interactive interface is operated.
Preferably, 2-10 fixing band quick-release mechanism is provided with the bed main body.
Further, the support component includes the components of supporting bed main body, in addition to support traction angle regulation The components of mechanism and 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 and traction The control accurate of power size, comprehensive rehabilitation can be carried out to patient, when greatly shortening the rehabilitation of patella ulnaris joint disease Between.
【Brief description of the drawings】
Accompanying drawing described herein be for providing a further understanding of the present invention, forming the part of the application, but Inappropriate limitation of the present invention is not formed, in the accompanying drawings:
Fig. 1 is the general 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 for eliminating pulley housings.
【Embodiment】
The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein and is said It is bright to be only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Referring to accompanying drawing 1, patella ulnaris joint traction recovering robot of the invention includes support component, bed master in general structure Body, fixing band quick-release mechanism, drag rope, traction angle governor motion, gentle force controlling organization, computer control are with collection System, man-machine interaction interface.
The support component is used for all parts for supporting robot of the present invention, including positioned at bed main body supported underneath bed master The components of body, in addition to the components of support traction angle governor motion and gentle force controlling organization.
The bed main body is used to support and immobilized patients, and there is provided 2-10 fixing band in the bed main body to unload the goods from the airplane soon Structure, the fixing band quick-release mechanism made with the axis of bed main body it is symmetrical, for quickly connect and removal fixing band.Work as patient Thigh or large arm when being positioned in a main body, fix thigh or large arm with fixing band, the both ends of fixing band are connected to On one fixing band quick-release mechanism.
There is a cylinder in the lower section of bed main body, by the flexible height that can adjust a main body of cylinder, to adapt to difference The height requirement of patient.Computer controls can control the flexible of the cylinder with acquisition system.
Referring to accompanying drawing 2, it illustrates the traction angle governor motion of the present invention.The traction angle governor motion is used to adjust The traction angle of drag rope is saved, it includes screw mandrel slide unit, controlled motor, displacement transducer.The screw mandrel slide unit is vertically fixed In support component so that the sliding block of screw mandrel slide unit can slide up and down along vertical direction;The controlled motor is used to pull this Sliding block slides up and down on screw mandrel slide unit;The sliding block secures a pulley towards one end of bed main body, for through traction Rope;Institute's displacement sensors can measure displacement of the sliding block on screw mandrel slide unit, calculate control and pass through sliding block with acquisition system Displacement can calculate the traction angle of drag rope, or the displacement of sliding block is calculated according to the traction angle of setting, then The controlled motor is controlled to pull sliding block to corresponding position.
Referring to accompanying drawing 4-6, it illustrates the antiwind structure chart of the rope of pulley used in the present invention, and it includes pulley sheet Body, pulley housings, pulley support piece and pulley cushion block.The pulley housings wire up pulley body, and pulley body can be Rotated in the pulley housings, the hole that may pass through drag rope is left in pulley housings, so as to prevent drag rope from winding;It is described Pulley support piece is used to connect pulley body and pulley cushion block, and the pulley housings are also connected on the pulley support piece, institute State the connector that pulley cushion block is pulley and sliding block.
Referring to accompanying drawing 3, it illustrates the gentle force controlling organization of the present invention, the gentle force controlling organization includes traction electricity Machine, decelerator, shaft coupling, torque sensor and line wheel;The traction electric machine is connected with the decelerator, is exported and turned round by decelerator Square, shaft coupling one end driving member connection reducer, other end output are connected to line wheel, pull rope are wrapped in the line wheel Rope.The torque sensor is arranged between shaft coupling and line wheel, for detecting and feeding back the size of output torque in real time.When leading When drawing motor work, it can drive line wheel to rotate, and so as to pulling traction rope rope, realize to the kneed traction of elbow.Computer control The signal that system can be fed back with acquisition system according to the torque sensor, the output torque of traction electric machine is controlled, realizes traction The soft control of power.
The drag rope pulls out from the line wheel of gentle force controlling organization, through on the sliding block of traction angle governor motion Pulley, then be fixed on the shank or forearm of patient.
Computer control and acquisition system respectively with above-mentioned controlled motor, traction electric machine and displacement transducer, torsion Square sensor is connected, on the one hand can be with the motion of two motors of active control, to set traction angle and tractive force;The opposing party Face can gather the exercise data of described two motors and the detection data of two sensors, by the archives data collected to number According in library file, can be worked afterwards according to the database file controlled motor, so as to reappear patella ulnaris joint distraction procedure.
Two motors are controlled by computer and are controlled with acquisition system by man-machine interaction interface, can be completed to two The active Loading Control (motion of i.e. direct controlled motor to draw patient) of motor, (i.e. elder generation is by curing for the collection of passive load information Teacher's active control, when being drawn to the patient being fixed in robot of the present invention, computer control and acquisition system record are every The course of work of individual motor), actively reproduction control is carried out to the information of collection, and (each motor that i.e. reproduction is recorded is moved through Journey is to simulate the therapeutic process of doctor).
The course of work of the present invention is as follows:
Using the present invention healing robot when, patient first couches in the bed main body of the present invention, position adjustment it is suitable it Afterwards, first patient thigh or large arm are fixed in a main body with fixing band, drag rope is then fixedly attached to the small of patient Leg or forearm, pass through computer control and acquisition system, the height of the adjustable bed main body of doctor, also settable traction angle, meter Calculation machine is controlled with acquisition system by adjusting the slide position in traction angle adjusting means, realizes the adjustment of traction angle, so Doctor can be controlled by computer and operate soft force control device with acquisition system afterwards, cervical vertebra be drawn, its Computer The signal that control is fed back with acquisition system according to the torque sensing device assembly, the output torque of the traction electric machine is controlled, it is real The soft control of existing tractive force.Computer, which controls, can also gather the course of work of each motor with acquisition system and store to number According in library file, after whole process is gathered and stored, active loading is carried out to each motor according to the information of storage, it is multiple The now output of each motor, realize the simulation to medical treatment process.Traction can be adjusted by the loading frequency of regulation motor During motor export speed.When reusing, rehabilitation can directly directly be carried out according to the file stored.
Described above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application scope, The equivalent change or modification that feature and principle are done, is included in the range of present patent application.

Claims (4)

1. a kind of patella ulnaris joint traction recovering robot, it is characterised in that the robot includes support component, bed main body, fixation Band quick-release mechanism, drag rope, traction angle governor motion, gentle force controlling organization, computer control and acquisition system;
The support component is used for all parts for supporting the robot;
The bed main body is used to support and immobilized patients, the fixing band quick-release mechanism are arranged in a main body, and with bed main body Axis make it is symmetrical, for quickly connect and removal fixing band;The lower section of the bed main body has a cylinder, passes through cylinder The flexible height that can adjust a main body;
The traction angle governor motion is used to adjust the traction angle of drag rope, it include screw mandrel slide unit, controlled motor and Displacement transducer;The screw mandrel slide unit is vertically fixed in support component, and the sliding block on screw mandrel slide unit can be along in vertical direction Lower slider;The controlled motor is used to pull the sliding block to slide on screw mandrel slide unit;The sliding block is consolidated towards one end of bed main body A pulley is determined, for through drag rope;Institute's displacement sensors can measure displacement of the sliding block on screw mandrel slide unit;
The gentle force controlling organization includes traction electric machine, decelerator, shaft coupling, torque sensor and line wheel;The traction electricity Machine is connected with the decelerator, and by decelerator output torque, shaft coupling one end driving member connection reducer, the other end is defeated Go out to be connected to line wheel, drag rope is wrapped in the line wheel, the torque sensor is arranged between shaft coupling and line wheel, is used for Detection in real time and the size of feedback output torque;
The drag rope pulls out from the line wheel of gentle force controlling organization, through on the sliding block of traction angle governor motion Pulley, then be fixed on the shank or forearm of patient;
The pulley includes pulley body, pulley housings, pulley support piece and pulley cushion block, and the pulley housings are by pulley body Wire up, pulley body can be rotated in the pulley housings, and the hole that may pass through drag rope, the cunning are left in pulley housings Wheel support chip is used to connect pulley body and pulley cushion block, and the pulley housings are also connected on the pulley support piece, described Pulley cushion block is fixedly connected on the sliding block;
Computer control and acquisition system respectively with above-mentioned controlled motor, traction electric machine and upper displacement sensors, torsion Square sensor, cylinder are connected, and the angle of traction can be calculated by the testing result of institute's displacement sensors, can leading according to setting Draw the displacement that goniometer calculates sliding block, to control the controlled motor to pull sliding block to be passed to relevant position according to the moment of torsion The signal of sensor feedback, controls the output torque of traction electric machine, realizes the soft control of tractive force;It can control stretching for the cylinder Contracting;Can active control above-mentioned two motor work, also can passive two motors of acquisition and recording the course of work, by what is collected Procedural information is archived in database file, can be worked afterwards according to the database file controlled motor, so as to reappear traction Process.
2. patella ulnaris joint traction recovering robot according to claim 1, it is characterised in that the robot also includes man-machine Interactive interface, the computer control are operated with acquisition system by the man-machine interaction interface.
3. the patella ulnaris joint traction recovering robot according to claim 1-2 any one, it is characterised in that in the bed 2-10 fixing band quick-release mechanism is provided with main body.
4. the patella ulnaris joint traction recovering robot according to claim 1-2 any one, it is characterised in that the support Component includes the components of supporting bed main body, in addition to the component of support traction angle governor motion and gentle force controlling organization Part.
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CN106393073B (en) * 2016-11-18 2018-12-14 武汉大学 A kind of Portable flexible elbow joint exoskeleton robot
EP3560664A4 (en) * 2016-12-22 2020-09-30 Kubota Corporation Assistance tool

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