CN105853179A - Brain ultrasonic massage robot for neurology department - Google Patents
Brain ultrasonic massage robot for neurology department Download PDFInfo
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- CN105853179A CN105853179A CN201610324189.9A CN201610324189A CN105853179A CN 105853179 A CN105853179 A CN 105853179A CN 201610324189 A CN201610324189 A CN 201610324189A CN 105853179 A CN105853179 A CN 105853179A
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- 210000004556 brain Anatomy 0.000 title claims abstract description 122
- 238000002604 ultrasonography Methods 0.000 claims description 99
- 239000000523 sample Substances 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 38
- 230000008901 benefit Effects 0.000 abstract description 13
- 230000033001 locomotion Effects 0.000 description 34
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 17
- 230000006870 function Effects 0.000 description 15
- 208000014644 Brain disease Diseases 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 208000002193 Pain Diseases 0.000 description 2
- 230000003110 anti-inflammatory effect Effects 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000001638 cerebellum Anatomy 0.000 description 2
- 230000002925 chemical effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 210000000265 leukocyte Anatomy 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004060 metabolic process Effects 0.000 description 2
- 230000004089 microcirculation Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000000704 physical effect Effects 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 230000008961 swelling Effects 0.000 description 2
- 206010019233 Headaches Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003925 brain function Effects 0.000 description 1
- 210000000133 brain stem Anatomy 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 210000002451 diencephalon Anatomy 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 231100000869 headache Toxicity 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000030208 low-grade fever Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 201000005671 spondyloarthropathy Diseases 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
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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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/008—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms using shock waves
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
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- 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)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to a brain ultrasonic massage robot for a neurology department. The brain ultrasonic massage robot comprises a fixing rack. A base plate is installed on the lower end face of the fixing rack. Four universal wheels are symmetrically installed on the lower end face of the base plate. The brain ultrasonic massage robot can be moved to the designated position freely through the four universal wheels below the base plate, and operation is easy and convenient. The fixing rack comprises a fixing table installed on the upper end face of the base plate. The outer side of the upper end face of the fixing table is symmetrically provided with four supporting panels in a welded mode. An annular circular truncated cone is welded to the upper ends of the four supporting panels. The supporting panels have an effect on supporting the annular circular truncated cone. A circular opening is formed in the middle of the annular circular truncated cone. The upper end face of an operation table is evenly provided with four brain massage mechanical hands in the axis direction. According to the brain ultrasonic massage robot, the automatic brain ultrasonic massage function can be achieved, and the brain ultrasonic massage robot has the advantages that massaging force is uniform, the massaging force is adjustable, the massaging height is adjustable, the massaging comfort level is high, the massaging effect is good, no shaking condition exists, the massaging stable performance is good, the application range is wide, and the working efficiency is high.
Description
Technical field
The present invention relates to medical instruments field, a kind of brain ultrasound wave massage robot for Neurology Department.
Background technology
Brain is the major part of central nervous system, is positioned at cranial cavity, mainly includes brain, diencephalon, cerebellum, brain stem, simultaneously
Brain is also dispersed with the nucleus or nerve centre much concentrated by neurocyte, and by the neural fibre of a large amount of uplink and downlink
Dimension bundle connects brain, cerebellum and spinal cord, morphologically with in function, nervus centralis each several part is contacted is an entirety, therefore,
A kind of any disease of brain all can have a strong impact on the healthy of people.
Common brain diseases mainly has headache, dizziness, feels sick and vomit, numb limbs and tense tendons, facial hemiparalysis, slobbering, speak not
Clearly, enunciate that difficulty, side limbs are weak, shakiness of walking, disturbance of consciousness, general fatigue are unable, cold perspiration, low grade fever and uncomfortable in chest
Etc., these diseases are all that people will cause the day after tomorrow, and main cause is that people do not focus on the consciousness to brain caring；Existing
As long as the artificial brain massage of brain caring mode and automatization's brain massage two kinds；Artificial brain massage is mainly by hand greatly
Each position of cortex is massaged, and regains one's strength to brain, and brain diseases patient is played assosting effect over the course for the treatment of,
But have that massage force is uneven at this artificial brain massaging way, massage time length, massage effect difference and an inefficiency etc.
Defect；And existing automatization brain massaging way is predominantly: the mode of vibrating motor vibration drives massage ball to carry out at cerebral cortex
Vibromassage, although achieve the function of automatization's homogeneously kneaded, but yet suffer from that massage force size is unadjustable, massage is relaxed
Appropriateness is little, massage apparatus there will be shake in work process, massage stability is poor, massage the most unadjustable and scope of application
The defect such as little.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of brain ultrasound wave massage robot for Neurology Department, the most permissible
Solve that the massage force that artificial brain massaging way exists is uneven, massage time length, massage effect difference and the difficult problem such as inefficiency,
Can also solve that the massage force size that existing automatization brain massaging way exists is unadjustable, massage is the most non-adjustable, massage is relaxed
Appropriateness is little, massage apparatus there will be the difficult problems such as shake, massage stability difference and the scope of application are little in work process, it is possible to achieve
Ultrasound wave brain automatic massage function, have massage force uniformly, massage force size is adjustable, massage height adjustable, massage comfort level
High, massage effect is good, there is not shake situation, massage stability is good, the scope of application big and work efficiency advantages of higher, carry
Supply the new way of a kind of automatization brain massage.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of brain ultrasound wave for Neurology Department
Massage robot, including fixed frame, the lower surface of described fixed frame is provided with base plate, and the lower surface of base plate is symmetrically installed with four
Individual universal wheel, can arbitrarily move to specify position by four universal wheels below base plate by the present invention, easy and simple to handle；Described solid
Determine frame and include being arranged on the fixed station of base plate upper surface, outside the upper surface of fixed station, be symmetrically welded with four support panels, four
The upper end of individual support panel is welded with annular round platform, and support panel plays the effect supporting annular round platform, and the middle part of annular round platform sets
It is equipped with circular open；Being symmetrically welded with four L-type support inside the upper surface of described fixed station, the upper end of four L-type support leads to
Crossing screw and be provided with erecting bed, four L-type support play installs and the effect of fixed installation platform, and the lower surface of erecting bed is by electricity
Support is provided with driving motor, drives the outfan of motor to be connected with drive shaft by shaft coupling, and bearing is passed through in the lower end of drive shaft
It is arranged on fixed station；The middle part of described drive shaft is provided with driving gear by key, drives gear to lift side chains with four respectively
Being meshed, by driving driven by motor drive shaft turns, drive shaft drives and drives pinion rotation, drives gear driven four lifting
Propping up chain movement, described lifting side chain includes and drives the travelling gear that gear is meshed, and travelling gear is arranged on power transmission shaft by key
On, the lower end of power transmission shaft is arranged on fixed station by bearing, and the upper end of power transmission shaft is welded with leading screw, and axle is passed through on the top of leading screw
Holding the lower surface being arranged on annular round platform, the middle part of leading screw is provided with slide block by screw thread, the outer wall of slide block is provided with No. one directly
Line slide rail, the outer wall of a line slide rail is arranged on support panel by screw, and a line slide rail plays restriction slide block movement
The function in direction so that what slide block can be stable moves at leading screw；Pacify respectively on four slide block inwalls of described four lifting side chains
Equipped with four side chains in parallel, the top of four side chains in parallel is provided with operating board；Described side chain in parallel includes being welded on slide block inwall
On an ear mount, by bearing pin, a number hydraulic cylinder is installed between an ear mount, the top of a hydraulic cylinder is installed by bearing pin
In No. two ear mount, No. two ear mount are arranged on the lower surface of operating board, a revolute pair R when ear mount rotates, a hydraulic cylinder
Revolute pair R when moving sets P time flexible and No. two ear mount rotations defines the side chain in parallel of RPR structure, fixed frame, four
The side chain in parallel of individual RPR structure and operating board form 4-RPR parallel institution, and it is good, firm that 4-RPR parallel institution has dynamic response
Degree is high, bearing capacity big, good stability and kinematic accuracy advantages of higher, drives four parallel connections to prop up respectively by four lifting side chains
Elevating movement made by chain, and four side chains in parallel drive operating board elevating movement, it is achieved thereby that brain of the present invention massage is adjustable for height
Function, it is adaptable to the patient of different heights, applied widely, the advantage by 4-RPR parallel institution makes the present invention exist simultaneously
Plateau can be remained in lift adjustment massage high process and in brain massage processes, eliminate jitter phenomenon, massage
Stability is high；Described operating board upper surface is the most uniformly provided with four brain massaging manipulators.
As madam's one optimal technical scheme of the present invention, described brain massaging manipulator includes the L being arranged on operating board upper surface
Type massage bracket, the end of L-type massage bracket is welded with circular massage platform, and the inside middle portion of circular massage platform is along axis side
To being uniformly provided with four No. three hydraulic cylinders, outside the middle part of circular massage platform, uniform welding has four No. two directly in the axial direction
Line slide rail, four No. two line slide rails are separately installed with four adjusting rods, the top of four adjusting rods and four three by screw
The top of number hydraulic cylinder is installed in the back in arc massage chamber, the inwall in arc massage chamber is evenly arranged with a circle ultrasound wave by
Rub side chain, and the bottom of each ultrasound wave massage side chain is each perpendicular to the inwall in arc massage chamber.When patient's brain be attached to arc by
Rubbing after the circle ultrasound wave massage side chain on chamber, No. three hydraulic cylinders are started working, and No. three hydraulic cylinders drive about arc massage chamber
Stretching motion, arc massage chamber is in adjusting rod fortune flexible with carrying out stable under the spaced motion of corresponding No. two line slide rails left and right
Dynamic, thus have adjusted ultrasound wave massage side chain and the tightness of patient's brain, the level of comfort of ultrasound wave massage can be increased.
As madam's one optimal technical scheme of the present invention, described ultrasound wave massage side chain includes being arranged on arc massage cavity wall
Disk, be vertically installed with massage rotary electric machine by motor cabinet in the middle part of disk, the output shaft of massage rotary electric machine fixedly mount
Massage turntable, the lower surface of massage turntable is had to be evenly arranged with four No. two spacing slide bars, four No. two limits in the axial direction
The lower end of position slide bar is all connected by sliding matching mode with between No. two limit sliding chutes, and No. two limit sliding chutes are welded on disk,
The drive massage turn that rotary electric machine can be stable is massaged under spaced motion between four No. two spacing slide bars and No. two limit sliding chutes
Dynamic platform rotates；Described massage turntable upper surface is welded with eccentric shaft, and the upper surface of eccentric shaft is welded with massage turntable, massage
The upper surface of turntable is provided with ultrasonic motor by motor cabinet, and the outfan of ultrasonic motor is provided with ultrasound probe, super
Sonic probe is connected with extraneous supersonic generator, external world's supersonic generator can to ultrasound probe send different frequency by
Rub ultrasound wave, and the massage force of different frequency massage ultrasound wave varies in size, it is achieved thereby that the adjustable merit of massage force size of the present invention
Can, and owing to ultrasound wave sends more stable, so that the massage force that patient's brain is subject to is highly uniform.Ultrasonic when regulating
After the tightness of ripple probe and patient's brain, the massage that extraneous supersonic generator sends suitable frequency to ultrasound probe surpasses
Sound wave starts to massage for patient's brain, and now ultrasonic motor is started working, and ultrasonic motor drives ultrasound probe in disease
Human brain slowly rotates, and adds the level of comfort of brain massage by the way of rotary ultrasonic ripple is massaged, and too increases massage effect
Really, meanwhile massage rotary electric machine also begins to synchronous working, and massage rotary electric machine drives the eccentric shaft turns on massage turntable,
Due to eccentric shaft, relatively and massage rotary electric machine is eccentric rotary, so that eccentric shaft drives the ultrasound wave above massage turntable
Probe makees the circulatory motion that diameter is the least, further increases the level of comfort of brain massage, also further increases massage effect.
Ultrasound wave massage treatment brain diseases cardinal principle is: the high frequency ultrasound vibration sent by ultrasound wave promotes blood, pouring
Bar liquid energy preferably Supply Organization, and attract leukocyte actively to move to scorching district center, eliminating microcirculation disturbance, film mistake is worn in stimulation
Journey, thus strengthens metabolic processes, plays antiinflammatory, pain relieving, the effect of healing of subsiding a swelling, promote, improves tissue again
Life energy and regulative mechanism, the present invention is exactly that the above-mentioned biological physical and chemical effect utilizing ultrasound wave is to reach the effect of physical therapy brain diseases.
As madam's one optimal technical scheme of the present invention, described fixed station and operating board are in circular configuration, and fixed station
The advantages such as mandrel line coincides with the central axis of operating board, and the rigidity by 4-RPR parallel institution is high and stability is good are permissible
All the time making fixed station and operating board keeping parallelism, 4-RPR parallel institution also functions to the work of rigid support brain massaging manipulator simultaneously
With, so that brain massaging manipulator or carries out can protecting all the time in ultrasound wave brain massage processes in height adjustment
Holding plateau, reduce the float force in motor process, massage stability is high.
As madam's one optimal technical scheme of the present invention, the quantity of described ultrasound wave massage side chain is at least 12, ultrasound wave
Massage side chain is the most, and the best to the massage effect of patient's brain, massage force is the most uniform, and massage effect is the best.
During work, the present invention can arbitrarily be moved to specify brain massage position, then root by first four universal wheels below base plate
Determining that ultrasound wave massages frequency according to different patient's brain situations, extraneous supersonic generator sends suitable frequency to ultrasound probe
Massage ultrasound wave, regulates ultrasound wave massage force, thus ensure that patient's brain carries out the ultrasound wave massage of suitable frequency, improve
The level of comfort of massage, adds massage effect, adds work efficiency, improve the rehabilitation speed of patient's brain；Then
Height further according to patient's brain determines massage height, drives motor first to start working, drives driven by motor drive shaft turns, drive
Moving axis drives and drives pinion rotation, drives gear to drive four lifting chain movements, travelling gear first band movable wire by travelling gear
Thick stick moves, and the rotational band movable slider of leading screw moves, and slide block drives in parallel chain movement under the assisted movement of a line slide rail,
Four side chains in parallel synchronize to drive the brain massaging manipulator above operating board to make elevating movement, when brain massaging manipulator reaches to refer to
Motor is driven to quit work during fixed suitable massage height；Massage altitude mixture control well proceeds by regulation patient's brain and ultrasound wave afterwards
The tightness of probe, after the circle ultrasound wave massage side chain that patient's brain is attached on arc massage chamber, No. three hydraulic cylinders are opened
Beginning work, No. three hydraulic cylinders drive arcs massage left and right, chamber stretching motions, arc massage chamber adjusting rod with at corresponding No. two straight lines
The stable left and right stretching motion that carries out under the spaced motion of slide rail, thus have adjusted the degree of tightness of ultrasound wave massage side chain and patient's brain
Degree, add ultrasound wave massage level of comfort, when patient's brain and and ultrasound probe between reach suitable tightness time
No. three hydraulic cylinders quit work；Tightness regulates and starts brain ultrasound wave automatic massage afterwards, and ultrasonic motor first starts work
Making, ultrasonic motor drives ultrasound probe slowly to rotate at patient's brain, adds brain by the way of rotary ultrasonic ripple is massaged
The level of comfort of portion's massage, too increases massage effect, and meanwhile massage rotary electric machine also begins to synchronous working, and massage rotates
Eccentric shaft turns on driven by motor massage turntable, due to eccentric shaft, relatively and massage rotary electric machine is eccentric rotary, so that
Obtaining eccentric shaft drives the ultrasound probe above massage turntable to make the circulatory motion that diameter is the least, further increases brain massage
Level of comfort, also further increase massage effect, it is achieved thereby that ultrasound wave automatic brain massage function；And due to fixing
Frame, the side chain in parallel of four RPR structures and operating board form 4-RPR parallel institution, have dynamic by 4-RPR parallel institution
State responds, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher make the brain above operating board massage
Mechanical hand is in height adjustment or carries out to remain plateau in ultrasound wave brain massage processes, reduces fortune
Float force during Dong, stability is high, adds the level of comfort of massage again, adds massage effect the most again.
The invention has the beneficial effects as follows:
1, the present invention is by driving the planetary gears of four travelling gear motions of gear driven, thus drives four side chains in parallel
Stable moving up and down on slide block, four side chains in parallel drive the brain massaging manipulator above operating board to make elevating movement, from
And achieve brain of the present invention and massage adjustable for height function, it is adaptable to the cervical spondylopathy patient of different heights, applied widely；
2, the present invention is good by the dynamic response of 4-RPR parallel institution, rigidity is high, bearing capacity is big, good stability and motion essence
Degree advantages of higher is so that brain massaging manipulator or carries out in ultrasound wave brain massage processes permissible in height adjustment
Remaining plateau, reduce the float force in motor process, stability is high, adds massage level of comfort, improves
Massage effect；
3, the present invention makes ultrasound probe send the massage ultrasound wave of different frequency by extraneous supersonic generator, by difference frequency
The brain massage ultrasound wave of rate realizes the adjustable function of massage force of the present invention, and the massage force size of different frequency massage ultrasound wave is not
With, and owing to ultrasound wave sends more stable, so that the massage force that patient's brain is subject to is highly uniform；
4, the present invention drives ultrasound probe slowly rotate at patient's brain and driven by massage rotary electric machine by ultrasonic motor
Ultrasound probe above massage turntable makees the circulatory motion that diameter is the least, by brain rotary massage and brain circular massage side
Formula adds the level of comfort of brain massage, too increases massage effect good, it is achieved that the function of ultrasound wave automatic brain massage；
5, the present invention solve artificial brain massaging way exist massage force uneven, massage time length, massage effect difference and work
Make the difficult problems such as efficiency is low, also solve that the massage force size that existing automatization brain massaging way exists is unadjustable, massage height
Non-adjustable, comfort level is little in massage, massage apparatus there will be that shake, massage stability be poor and the scope of application is little etc. in work process
A difficult problem, it is achieved that ultrasound wave brain automatic massage function, and have massage force uniformly, massage force size is adjustable, massage height can
Adjust, massage comfort level is high, massage effect is good, there is not shake situation, massage stability is good, the scope of application big and work effect
Rate advantages of higher, it is provided that the new way of a kind of automatization brain massage.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the full sectional view that the present invention removes after brain massaging manipulator；
Fig. 3 is the structural representation of brain massaging manipulator of the present invention；
Fig. 4 is the full sectional view of brain massaging manipulator of the present invention；
Fig. 5 is that the I of Fig. 4 is to partial enlarged drawing；
Fig. 6 is the structural representation of ultrasound wave of the present invention massage side chain.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of brain ultrasound wave massage robot for Neurology Department, including fixed frame 1, described
The lower surface of fixed frame 1 is provided with base plate 1a, and the lower surface of base plate 1a is symmetrically installed with four universal wheel 1b, passes through base plate
The present invention can arbitrarily be moved to specify position by four universal wheel 1b below 1a, easy and simple to handle；Described fixed frame 1 includes
It is arranged on the fixed station 11 of base plate 1a upper surface, outside the upper surface of fixed station 11, is symmetrically welded with four support panels 12, four
The upper end of individual support panel 12 is welded with annular round platform 13, and support panel 12 plays the effect supporting annular round platform 13, annular
The middle part of round platform 13 is provided with circular open；Four L-type support 14 it are symmetrically welded with inside the upper surface of described fixed station 11,
The upper end of four L-type support 14 is provided with erecting bed 15 by screw, and four L-type support 14 play installation and fixed installation platform
The effect of 15, the lower surface of erecting bed 15 is provided with driving motor 16 by motor cabinet, drives the outfan of motor 16 by connection
Axial organ is connected with drive shaft 17, and the lower end of drive shaft 17 is arranged on fixed station 11 by bearing；In described drive shaft 17
Portion is provided with driving gear 18 by key, drives gear 18 to be meshed with four lifting side chains 19 respectively, by driving motor 16
Driving drive shaft 17 to rotate, drive shaft 17 drives and drives gear 18 to rotate, and drives gear 18 to drive four lifting side chains 19 to transport
Dynamic, described lifting side chain 19 includes and the travelling gear 191 driving gear 18 to be meshed, and travelling gear 191 is installed by key
On power transmission shaft 192, the lower end of power transmission shaft 192 is arranged on fixed station 11 by bearing, and the upper end of power transmission shaft 192 is welded with
Leading screw 193, the top of leading screw 193 is arranged on the lower surface of annular round platform 13 by bearing, and screw thread is passed through at the middle part of leading screw 193
Being provided with slide block 194, the outer wall of slide block 194 is provided with a line slide rail 195, the outer wall of a line slide rail 195 passes through
Screw is arranged on support panel 12, and a line slide rail 195 plays the function limiting slide block 194 direction of motion so that slide block
194 can be stable move at leading screw 193；It is separately installed with four on four slide block 194 inwalls of described four lifting side chains 19
Individual side chain 2 in parallel, the top of four side chains 2 in parallel is provided with operating board 3；Described side chain 2 in parallel includes being welded on slide block 194
An ear mount 21 on inwall, is provided with a hydraulic cylinder 22, the top of a hydraulic cylinder 22 by bearing pin between an ear mount 21
End is arranged in No. two ear mount 23 by bearing pin, and No. two ear mount 23 are arranged on the lower surface of operating board 3, and an ear mount 21 rotates
Time revolute pair R when rotating of revolute pair R, the hydraulic cylinder 22 moving sets P when stretching and No. two ear mount 23 define RPR
The side chain in parallel 2 of structure, side chain in parallel 2 and the operating board 3 of 1, four RPR structures of fixed frame form 4-RPR parallel institution,
4-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, logical
Crossing four lifting side chains 19 drives four side chains 2 in parallel to make elevating movement respectively, and four side chains 2 in parallel drive operating board 3 to lift
Motion, it is achieved thereby that brain of the present invention massages adjustable for height function, it is adaptable to the patient of different heights, applied widely,
Advantage by 4-RPR parallel institution makes the present invention in lift adjustment massage high process and can in brain massage processes simultaneously
To remain plateau, eliminating jitter phenomenon, massage stability is high；Described operating board 3 upper surface is in the axial direction
Four brain massaging manipulators 24 are uniformly installed.
Described brain massaging manipulator 24 includes the L-type massage bracket 241 being arranged on operating board 3 upper surface, L-type massage bracket
The end of 241 is welded with circular massage platform 242, and the inside middle portion of circular massage platform 242 is the most uniformly provided with four
Individual No. three hydraulic cylinders 243, outside the middle part of circular massage platform 242, uniform welding has four No. two line slide rails in the axial direction
244, four No. two line slide rails 244 are separately installed with four adjusting rods 245, the top of four adjusting rods 245 by screw
With the back that the top of four No. three hydraulic cylinders 243 is installed in arc massage chamber 246, arc is massaged on the inwall in chamber 246 equal
The even circle ultrasound wave that is provided with massages side chain 247, and the bottom of each ultrasound wave massage side chain 247 is each perpendicular to arc massage chamber
The inwall of 246.After the circle ultrasound wave massage side chain 247 that patient's brain is attached on arc massage chamber 246, No. three hydraulic pressure
Cylinder 243 is started working, and No. three hydraulic cylinders 243 drive arc massage chamber about 246 stretching motion, and arc massage chamber 246 is being adjusted
What pole 245 was stable with under the spaced motion of corresponding No. two line slide rails 244 carries out left and right stretching motion, thus have adjusted super
Acoustic massage side chain 247 and the tightness of patient's brain, can increase the level of comfort of ultrasound wave massage.
Described ultrasound wave massage side chain 247 includes the disk 2471 being arranged on the inwall of arc massage chamber 246, in disk 2471
Portion by motor cabinet be vertically installed with massage rotary electric machine 2472, massage rotary electric machine 2472 output shaft on be installed with by
Rub turntable 2473, and the lower surface of massage turntable 2473 is evenly arranged with four No. two spacing slide bars 2474 in the axial direction,
The lower end of four No. two spacing slide bars 2474 is all connected by sliding matching mode with between No. two limit sliding chutes 2475, No. two limits
Position chute 2475 is welded on disk 2471, the limit between four No. two spacing slide bars 2474 and No. two limit sliding chutes 2475
The drive massage turntable 2473 that under the motion of position, massage rotary electric machine 2472 can be stable rotates；On described massage turntable 2473
End face weld is connected to eccentric shaft 2476, and the upper surface of eccentric shaft 2476 is welded with massage turntable 2477, massage turntable 2477
Upper surface is provided with ultrasonic motor 2478 by motor cabinet, and the outfan of ultrasonic motor 2478 is provided with ultrasound probe
2479, ultrasound probe 2479 is connected with extraneous supersonic generator, and extraneous supersonic generator can be to ultrasound probe 2479
Sending the massage ultrasound wave of different frequency, the massage force of different frequency massage ultrasound wave varies in size, it is achieved thereby that the present invention presses
The adjustable function of power of rubbing size, and owing to ultrasound wave sends more stable, so that the massage force that patient's brain is subject to is the most equal
Even.After regulating the ultrasound probe 2479 tightness with patient's brain, extraneous supersonic generator is to ultrasound probe
The 2479 massage ultrasound wave sending suitable frequency start to massage for patient's brain, and now ultrasonic motor 2478 is started working,
Ultrasonic motor 2478 drives ultrasound probe 2479 slowly to rotate at patient's brain, increases by the way of rotary ultrasonic ripple is massaged
Having added the level of comfort of brain massage, too increased massage effect, meanwhile massage rotary electric machine 2472 also begins to synchronous working,
Massage rotary electric machine 2472 drives the eccentric shaft 2476 on massage turntable 2473 to rotate, due to eccentric shaft 2476 relatively with press
The rotary electric machine 2472 that rubs is eccentric rotary, so that eccentric shaft 2476 drives the ultrasound probe above massage turntable 2477
2479 make the circulatory motion that diameter is the least, further increase the level of comfort of brain massage, also further increase massage effect.
Ultrasound wave massage treatment brain diseases cardinal principle is: the high frequency ultrasound vibration sent by ultrasound wave promotes blood, pouring
Bar liquid energy preferably Supply Organization, and attract leukocyte actively to move to scorching district center, eliminating microcirculation disturbance, film mistake is worn in stimulation
Journey, thus strengthens metabolic processes, plays antiinflammatory, pain relieving, the effect of healing of subsiding a swelling, promote, improves tissue again
Life energy and regulative mechanism, the present invention is exactly that the above-mentioned biological physical and chemical effect utilizing ultrasound wave is to reach the effect of physical therapy brain diseases.
Described fixed station 11 and operating board 3 are circular configuration, and the central shaft of the central axis of fixed station 11 and operating board 3
The advantages such as line coincides, and the rigidity by 4-RPR parallel institution is high and stability is good can make fixed station 11 and operating board all the time
3 keeping parallelisms, 4-RPR parallel institution also functions to the effect of rigid support brain massaging manipulator 24 simultaneously, so that brain
Massaging manipulator 24 is in height adjustment or carries out to remain plateau in ultrasound wave brain massage processes, fall
Float force in low motor process, massage stability is high.
The quantity of described ultrasound wave massage side chain 247 is at least 12, and ultrasound wave massage side chain more than 247, to patient's brain
Massage effect the best, massage force is the most uniform, and massage effect is the best.
During work, the present invention can arbitrarily be moved to specify brain massage position by four universal wheel 1b below first base plate 1a,
Then determining that ultrasound wave massages frequency according to different patient's brain situations, extraneous supersonic generator sends to ultrasound probe 2479
The massage ultrasound wave of suitable frequency, regulates ultrasound wave massage force, thus ensure that patient's brain carries out the ultrasound wave of suitable frequency
Massage, improves the level of comfort of massage, adds massage effect, add work efficiency, improve the rehabilitation of patient's brain
Speed；Then the height further according to patient's brain determines massage height, drives motor 16 first to start working, and drives motor 16 to carry
Dynamic drive shaft 17 rotates, and drive shaft 17 drives and drives gear 18 to rotate, and drives gear 18 to drive four by travelling gear 191
Individual lifting side chain 19 moves, and travelling gear 191 first drives leading screw 193 to move, and the rotational band movable slider 194 of leading screw 193 moves,
Slide block 194 drives side chain 2 in parallel to move under the assisted movement of a line slide rail 195, and four side chains 2 in parallel synchronize to drive
Brain massaging manipulator 24 above operating board 3 makees elevating movement, properly massages height when brain massaging manipulator 24 reaches to specify
Motor 16 is driven to quit work when spending；Massage altitude mixture control well proceeds by regulation patient's brain and ultrasound probe 2479 afterwards
Tightness, when patient's brain be attached to arc massage chamber 246 on one circle ultrasound wave massage side chain 247 after, No. three hydraulic pressure
Cylinder 243 is started working, and No. three hydraulic cylinders 243 drive arc massage chamber about 246 stretching motion, and arc massage chamber 246 is being adjusted
What pole 245 was stable with under the spaced motion of corresponding No. two line slide rails 244 carries out left and right stretching motion, thus have adjusted super
Acoustic massage side chain 247 and the tightness of patient's brain, add the level of comfort of ultrasound wave massage, when patient's brain with
When reaching suitable tightness between ultrasound probe 2479, No. three hydraulic cylinders 243 quit work；Tightness regulates to be opened afterwards
Beginning brain ultrasound wave automatic massage, ultrasonic motor 2478 first starts working, and ultrasonic motor 2478 drives ultrasound probe 2479
Slowly rotate at patient's brain, add by the way of rotary ultrasonic ripple is massaged brain massage level of comfort, too increase by
Rubbing effect, meanwhile massage rotary electric machine 2472 also begins to synchronous working, and massage rotary electric machine 2472 drives massage turntable
Eccentric shaft 2476 on 2473 rotates, and due to eccentric shaft 2476, relatively and massage rotary electric machine 2472 is eccentric rotary, thus
Make eccentric shaft 2476 drive the ultrasound probe 2479 above massage turntable 2477 to make the circulatory motion that diameter is the least, enter one
Step adds the level of comfort of brain massage, also further increases massage effect, it is achieved thereby that the massage of ultrasound wave automatic brain
Function；And owing to side chain in parallel 2 and the operating board 3 of 1, four RPR structures of fixed frame form 4-RPR parallel institution, borrow
Dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher make to help 4-RPR parallel institution to have
Obtain the brain massaging manipulator 24 above operating board 3 and or carry out in ultrasound wave brain massage processes permissible in height adjustment
Remaining plateau, reduce the float force in motor process, stability is high, adds the comfortable journey of massage again
Degree, adds massage effect the most again, therefore the present invention solve the massage force that artificial brain massaging way exists uneven,
Massage time length, massage effect difference and the difficult problem such as inefficiency, also solve that existing automatization brain massaging way exists by
Power of rubbing size is unadjustable, massage is the most non-adjustable, massage comfort level is little, massage apparatus work process there will be shake, by
Stability difference of rubbing and the difficult problem such as the scope of application is little, reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (4)
1. the brain ultrasound wave massage robot for Neurology Department, it is characterised in that: include fixed frame (1), described solid
The lower surface determining frame (1) is provided with base plate (1a), and the lower surface of base plate (1a) is symmetrically installed with four universal wheels (1b)；Described solid
Determine frame (1) and include being arranged on the fixed station (11) of base plate (1a) upper surface, outside the upper surface of fixed station (11), be symmetrically welded with four
Individual support panel (12), the upper end of four support panels (12) is welded with annular round platform (13), and the middle part of annular round platform (13) is arranged
There is circular open；Four L-type support (14), four L-type support (14) it are symmetrically welded with inside the upper surface of described fixed station (11)
Upper end by screw, erecting bed (15) is installed, the lower surface of erecting bed (15) by motor cabinet be provided with driving motor (16),
The outfan driving motor (16) is connected with drive shaft (17) by shaft coupling, and the lower end of drive shaft (17) is arranged on solid by bearing
Determine on platform (11)；The middle part of described drive shaft (17) by key be provided with driving gear (18), drive gear (18) respectively with four
Lifting side chain (19) is meshed, and described lifting side chain (19) includes and the travelling gear (191) driving gear (18) to be meshed, transmission
Gear (191) is arranged on power transmission shaft (192) by key, and the lower end of power transmission shaft (192) is arranged on fixed station (11) by bearing,
The upper end of power transmission shaft (192) is welded with leading screw (193), and the top of leading screw (193) is arranged on the lower end of annular round platform (13) by bearing
Face, the middle part of leading screw (193) is provided with slide block (194) by screw thread, the outer wall of slide block (194) is provided with a line slide rail
(195), the outer wall of a line slide rail (195) is arranged on support panel (12) by screw；Described four liftings side chain (19)
Four slide block (194) inwalls on be separately installed with four side chains in parallel (2), the top of four side chains in parallel (2) is provided with operating board
(3)；Described operating board (3) upper surface is the most uniformly provided with four brain massaging manipulators (24)；
Described brain massaging manipulator (24) includes the L-type massage bracket (241) being arranged on operating board (3) upper surface, and L-type is massaged
The end of support (241) is welded with circular massage platform (242), and the inside middle portion of circular massage platform (242) is the most uniform
Being provided with four No. three hydraulic cylinders (243), outside the middle part of circular massage platform (242), uniform welding has four two in the axial direction
Number line slide rail (244), four No. two line slide rails (244) are separately installed with four adjusting rods (245), four tune by screw
The top of the top of pole (245) and four No. three hydraulic cylinders (243) is installed in the back of arc massage chamber (246), and arc is massaged
Circle ultrasound wave massage side chain (247), and the bottom of each ultrasound wave massage side chain (247) it is evenly arranged with on the inwall in chamber (246)
It is each perpendicular to the inwall of arc massage chamber (246)；
Described ultrasound wave massage side chain (247) includes the disk (2471) being arranged on arc massage chamber (246) inwall, disk (2471)
Middle part is vertically installed with massage rotary electric machine (2472) by motor cabinet, and the output shaft of massage rotary electric machine (2472) fixedly mounts
Massage turntable (2473), the lower surface of massage turntable (2473) is had to be evenly arranged with four No. two spacing slide bars in the axial direction
(2474), sliding matching mode phase is all passed through with between No. two limit sliding chutes (2475) in the lower end of four No. two spacing slide bars (2474)
Even, No. two limit sliding chutes (2475) are welded on disk (2471)；Described massage turntable (2473) upper surface is welded with eccentric shaft
(2476), the upper surface of eccentric shaft (2476) is welded with massage turntable (2477), and the upper surface of massage turntable (2477) is passed through
Motor cabinet is provided with ultrasonic motor (2478), and the outfan of ultrasonic motor (2478) is provided with ultrasound probe (2479).
A kind of brain ultrasound wave massage robot for Neurology Department the most according to claim 1, it is characterised in that: institute
State fixed station (11) and operating board (3) and be circular configuration, and the central axis of the central axis of fixed station (11) and operating board (3)
Coincide.
A kind of brain ultrasound wave massage robot for Neurology Department the most according to claim 1, it is characterised in that: institute
State the ear mount (21) that side chain (2) in parallel includes being welded on slide block (194) inwall, pacified by bearing pin between an ear mount (21)
Equipped with a hydraulic cylinder (22), the top of a hydraulic cylinder (22) is arranged on No. two ear mount (23) by bearing pin, No. two ear mount (23)
It is arranged on the lower surface of operating board (3).
A kind of brain ultrasound wave massage robot for Neurology Department the most according to claim 1, it is characterised in that: described
The quantity of ultrasound wave massage side chain (247) is at least 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610324189.9A CN105853179B (en) | 2016-05-16 | 2016-05-16 | A kind of brain ultrasonic wave massage robot for Neurology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610324189.9A CN105853179B (en) | 2016-05-16 | 2016-05-16 | A kind of brain ultrasonic wave massage robot for Neurology |
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| CN105853179B CN105853179B (en) | 2017-11-03 |
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| CN201610324189.9A Expired - Fee Related CN105853179B (en) | 2016-05-16 | 2016-05-16 | A kind of brain ultrasonic wave massage robot for Neurology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106963596A (en) * | 2017-04-30 | 2017-07-21 | 璧靛嘲 | A kind of surgery cervical vertebra massager |
| CN108743270A (en) * | 2018-03-10 | 2018-11-06 | 纪震彬 | The rotary back massage apparatus of one kind point row |
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| JPH037161A (en) * | 1989-06-05 | 1991-01-14 | Fuji Iryoki:Kk | Massage machine |
| JPH04297259A (en) * | 1990-12-14 | 1992-10-21 | Yamato Kurieiteibu:Kk | Hand massaging apparatus |
| KR100533778B1 (en) * | 2005-03-11 | 2005-12-07 | 주식회사 세라젬 | Moving up and down apparatus for a hyperthermo-therapeutic apparatus |
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| CN102014843A (en) * | 2008-04-11 | 2011-04-13 | Gp合资有限公司 | Handpiece for ultrasound treatment of human tissue |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106963596A (en) * | 2017-04-30 | 2017-07-21 | 璧靛嘲 | A kind of surgery cervical vertebra massager |
| CN106963596B (en) * | 2017-04-30 | 2019-04-26 | 青岛市市立医院 | A kind of surgery cervical vertebra massager |
| CN108743270A (en) * | 2018-03-10 | 2018-11-06 | 纪震彬 | The rotary back massage apparatus of one kind point row |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105853179B (en) | 2017-11-03 |
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Inventor after: Wu Yuanhua Inventor before: Chu Maosong Inventor before: Pan Chunyan |
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Effective date of registration: 20171009 Address after: 550000 Guizhou province Yunyan District of Guiyang City Xin Xin Park District 38 Building 1 unit 301 room Applicant after: Wu Yuanhua Address before: 246001 Anhui Province, Anqing City Yingjiang District Yang Shan C floor bottom from west to East first Applicant before: Anqing Mirui Intelligent Technology Co., Ltd. |
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