CN105919705B - A kind of vertebrae traction recovering robot and its pulley - Google Patents

A kind of vertebrae traction recovering robot and its pulley Download PDF

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Publication number
CN105919705B
CN105919705B CN201610364223.5A CN201610364223A CN105919705B CN 105919705 B CN105919705 B CN 105919705B CN 201610364223 A CN201610364223 A CN 201610364223A CN 105919705 B CN105919705 B CN 105919705B
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pulley
traction
motor
sliding block
pillar
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CN105919705A (en
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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
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A61F5/042Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
    • 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
    • A61H1/0222Traction tables
    • 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
    • A61H1/0292Stretching or bending or torsioning apparatus for exercising for the spinal column
    • A61H1/0296Neck
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • 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
    • 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
    • A61H2201/1609Neck
    • 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
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/1671Movement of interface, i.e. force application means rotational
    • A61H2201/1673Multidimensional rotation
    • 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
    • A61H2201/5007Control means thereof computer controlled
    • 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
    • A61H2205/04Devices for specific parts of the body neck

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Biomedical Technology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Neurology (AREA)
  • Nursing (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

The invention discloses a kind of vertebrae traction recovering robot and its pulley, the pulley 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 pillar, cross bar or sliding block.The robot of the present invention can realize the control accurate of cervical traction angle, direction and tractive force size, can carry out comprehensive rehabilitation to cervical spondylosis patient, greatly shorten the rehabilitation duration of cervical spondylosis.

Description

A kind of vertebrae traction recovering robot and its pulley
【Technical field】
The present invention relates to rehabilitation medical robot field, more particularly to a kind of vertebrae traction recovering robot and its pulley.
【Background technology】
Cervical vertebra is the place that mobility is maximum in backbone, can be rotated, and left and right lateral bending and front and rear is bent and stretched.The vertebra of cervical vertebra simultaneously Between articular facets close to level, so easily there is Dislocation with locked facet.Connect occipital bone, second line of a couplet thoracic vertebrae, cervical vertebra vertebra on cervical vertebra simultaneously Body rear is neck marrow, and upper cervical part of esophagus is oblongata, has vital center, is damaged to nerve, is in a bad way, can be with threat to life.So neck Vertebra damage the characteristics of be:Cervical spine injury easily occurs, and fracture of cervical spine accounts for the 30% of whole spine fractures, can directly jeopardize patient The possibility of life either high paraplegia.Cervical vertebra is up connected with skull and its structure, when the strength of head and neck surpasses When crossing the ability that its protection structure can disperse, cervical vertebra will be damaged, and about 40% patient will have nerve in cervical spine injury Symptom, x-ray evidence of the patient without obvious spinal injury of about 10% traumatic spinal cord injury, because cervical spine injury is dangerous It is larger, also have larger potentially danger, so it is correct assess and and early treatment cervical spine injury and potential cervical spine injury it is non- It is often important.Some existing patent achievements for cervical vertebrae recovery therapeutic domestic at present, and these achievements have definitely limitation, If the angle of traction is fixed, simulates doctor's therapeutic process scarce capacity, fixation is not steady enough, wearing is not comfortable etc. enough.
【The content of the invention】
Present invention is generally directed in cervical spine injury patient, with reference to robotics, human cinology, ergonomics scheduling theory Machine Design is carried out, is proposed a kind of with multiple degrees of freedom training direction, the vertebrae traction recovering therapeutic machine of multi-modal training form Device people.
In order to achieve the above object, technical scheme proposed by the present invention is as follows:
A kind of vertebrae traction recovering robot, the robot include support base, pillar, drag rope, traction headgear, traction Angle regulator, adjustable seat, lead adjusting means, soft force control device, computer control and acquisition system;
The support base is used to support whole robot, and the pillar is vertically fixed on the support base;
The traction angle adjusting means is fixed on the top of the pillar, and parallel with the support base;The traction Angle regulator includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor;The screw mandrel slide unit The top of the cross bar is fixed on, and is used to pull this with the sliding block that can be slided on the screw mandrel slide unit, second motor Sliding block slides on screw mandrel slide unit;A pulley has been fixedly connected with below the sliding block;The steel cable of the stay wire displacement sensor The sliding block is connected to, for detecting the displacement of sliding block;
The soft force control device includes base, and the first motor and reducer assemblies, connection fixed on base Axle device, torque sensing device assembly and line wheel component, the base are fixed on the support base, and the first motor is defeated by decelerator Go out moment of torsion, shaft coupling one end connects the decelerator, and the other end connects the line wheel component, is wrapped on the line wheel component described Drag rope.The torque sensing device assembly is arranged between shaft coupling and line wheel component, for detecting in real time and feeding back output The size of moment of torsion;When the first motor works, it can drive line wheel component to rotate, so as to pulling traction rope rope;
Two pulleys are secured on the pillar, a pulley are secured below the cross bar, on the line wheel component The drag rope of winding sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then passes through the cunning on sliding block Wheel, is eventually connected to the traction headgear;
Four pulley structures are identical, including pulley body, pulley housings, pulley support piece and pulley cushion block, described Pulley housings wire up pulley body, and pulley body can rotate in the pulley housings, leave and may pass through in pulley housings The hole of drag rope, the pulley support piece are used to connect pulley body and pulley cushion block, and the pulley housings are also connected to institute State on pulley support piece, the pulley cushion block is fixedly connected on the pillar, cross bar or sliding block;
The lead adjusting means includes electric pushrod, connecting rod, rotary shaft, rotation platform, and electric pushrod, which drives, to be connected Bar promotes rotary shaft to be rotated, fixed angle sensor in rotary shaft, and rotation platform is fixed on the rotary shaft, and the angle passes Sensor is used for the anglec of rotation for detecting the rotary shaft, therefore can realize that rotation platform carries out ± 70 degree of rotations, described adjustable Section seat is fixedly mounted on rotation platform;
Computer control and acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensing Device assembly, angular transducer are connected, and the angle of traction can be calculated by the testing result of the stay wire displacement sensor, can be led to The testing result of over-angle sensor calculates the anglec of rotation of rotary seat, can be according to the traction angle control that doctor is set Second motor, the anglec of rotation that can be set according to doctor control the electric pushrod, can be anti-according to the torque sensing device assembly The signal of feedback, the output torque of the first motor is controlled, realizes the soft control of tractive force;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 in database file, It can be worked afterwards according to the database file controlled motor, so as to reappear cervical traction process.
Preferably, the effective travel of the screw mandrel slide unit is 800mm.
Preferably, the traction angle that the traction angle adjusting means allows is -15 degree to+45 degree.
The solution have the advantages that:The robot of the present invention can realize that cervical traction angle, direction and tractive force are big Small control accurate, comprehensive rehabilitation can be carried out to cervical spondylosis patient, when greatly shortening the rehabilitation of cervical spondylosis 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 and Fig. 2 is the general structure schematic diagram of the present invention;
Fig. 3 is the traction angle adjusting means schematic diagram of robot of the present invention;
Fig. 4 is the soft force control device schematic diagram of robot of the present invention;
Fig. 5 is the drag rope and traction headgear scheme of installation of robot of the present invention;
Fig. 6 is the lead adjusting means schematic diagram of robot of the present invention;
Fig. 7 and Fig. 8 is pulley structure figure used in the present invention.
【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 1-2, vertebrae traction recovering robot of the invention includes support base, pillar in general structure, led It is messenger rope, traction headgear (not marked in figure), traction angle adjusting means, adjustable seat, lead adjusting means, soft Force control device, computer control and acquisition system.
The support base is elongated, is the base of whole robot, for supporting whole robot.The pillar is vertical It is fixed on support base, on the top of pillar, is fixedly connected horizontally disposed traction angle adjusting means, the traction angle is adjusted Regulating device is parallel with support base.
Referring to accompanying drawing 3, it illustrates the traction angle adjusting means of robot of the present invention, the traction angle adjusting means bag Cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor are included, the cross bar is horizontally disposed with, and is secured above the cross bar The screw mandrel slide unit, the effective travel of the screw mandrel slide unit is 800mm, and sliding block can slide on the screw mandrel slide unit, second electricity Machine can pull the sliding block to be slided on screw mandrel slide unit.A pulley is secured below the sliding block, for through drag rope. The steel cable of the stay wire displacement sensor is connected to the sliding block, and for measuring the displacement of sliding block, computer control is with collection System calculates the angle of traction by the displacement can of sliding block.Preferably, (i.e. drag rope is to cervical traction for the angle of traction The angle of power and vertical direction) should be that -15 degree are advisable to+45 degree.
Referring to accompanying drawing 4, it illustrates the soft force control device of robot of the present invention, the soft force control device has One base, the base are fixed on the support base, secured on base the first motor and reducer assemblies, shaft coupling, Torque sensing device assembly and line wheel component, the first motor are connected with the decelerator, by decelerator output torque, the shaft coupling One end driving member connection reducer, other end output are connected to line wheel component, drag rope are wrapped on the line wheel component.Institute State torque sensing device assembly to be arranged between shaft coupling and line wheel component, for detecting and feeding back the size of output torque in real time. When the first motor works, it can drive line wheel component to rotate, and so as to pulling traction rope rope, realize the traction to cervical vertebra.Calculate Machine controls the signal that can be fed back with acquisition system according to the torque sensing device assembly, controls the output torque of the first motor, Realize the soft control of tractive force.
Referring to accompanying drawing 5, it illustrates the installation settings of drag rope and traction headgear.Two are secured on the pillar Pulley, a pulley is also secured on the cross bar of traction angle adjusting means.The pull rope wound on above-mentioned line wheel component Rope sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then passes through the sliding block of traction angle adjusting means On pulley, be eventually connected to the traction headgear.
Referring to accompanying drawing 7-8, it illustrates pulley structure figure used in the present invention, 4 pulleys used in the present invention are all It is identical structure, including pulley body, pulley housings, pulley support piece and pulley cushion block.The pulley housings are by pulley sheet Body is wired up, and pulley body can be rotated in the pulley housings, and the hole that may pass through drag rope is left in pulley housings, so as to It can prevent drag rope from winding;The pulley support piece is used to connect pulley body and pulley cushion block, and the pulley housings also connect It is connected on the pulley support piece, the pulley cushion block is the connector of pulley and pillar/cross bar/sliding block.
Referring to accompanying drawing 6, it illustrates the lead adjusting means of robot of the present invention, the lead adjusting means It is also mounted on the support base.The lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotation Turn platform.The electric pushrod is used for drivening rod and promotes rotary shaft to be rotated, and the rotation platform is fixed on the rotary shaft, Connection angle sensor in the rotary shaft, the adjustable seat are fixedly mounted on rotation platform.Based on said structure, when Electric pushrod work when can drive rotation platform carry out ± 70 degree rotate, when rotation platform rotates, adjustable seat also with Rotation, so as to realize the change of lead.The angular transducer can detect the angle of rotary shaft rotation, computer control The anglec of rotation and the direction of the adjustable seat are known with the angle can that acquisition system is detected by the angular transducer. Computer control and acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensing device assembly, Angular transducer is connected, and on the one hand on the other hand can gather described two electricity with the motion of two motors of active control The detection data of the exercise data of machine and three sensors, by the archives data collected into database file, afterwards can Worked according to the database file controlled motor, so as to reappear cervical traction process.
Two motors are controlled by computer and are controlled with acquisition system by man machine operation interface, can be completed to two The active Loading Control (motion of i.e. direct controlled motor to draw patients with cervical) of motor, passive load information collection (i.e. elder generation By doctor's active control, when being drawn to the patients with cervical being fixed in robot of the present invention, computer control is with collection System records the course of work of each motor), actively reproduction control carried out to the information of collection (reappear each motor recorded Motion process to simulate the therapeutic process of doctor).
The course of work of the present invention is as follows:
During using healing robot of the invention, patient is first sitting on adjustable seat, will be suffered from the fixing band on seat Person's upper body and waist are fixed, and are then fixed the lower jaw of patient and occipitalia with traction headgear, are controlled by computer with gathering system Traction angle can be set in system, doctor, and computer control is with acquisition system by adjusting the sliding block position in traction angle adjusting means Put, realize the adjustment of traction angle, then the anglec of rotation of rotation platform, computer control and acquisition system base can be set in doctor Electric pushrod is controlled in the anglec of rotation, to adjust the rotation platform of lead adjusting means, passes through rotation platform rotation seat Chair, the adjustment of traction is realized, the soft force control device of last operation, cervical vertebra is drawn, its Computer control The signal that system is fed back with acquisition system according to the torque sensing device assembly, the output torque of the first motor is controlled, realize traction The soft control of power.Computer, which controls to gather the course of work of each motor with acquisition system and store, arrives data library text In part, after whole process is gathered and stored, active loading is carried out to each motor according to the information of storage, reproduction is each The output of motor, realize the simulation to medical treatment process.It can be adjusted by the loading frequency of regulation motor in distraction procedure The speed of motor output.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 (3)

1. a kind of vertebrae traction recovering robot, it is characterised in that the robot includes support base, pillar, drag rope, traction Headgear, traction angle adjusting means, adjustable seat, lead adjusting means, soft force control device, computer control with Acquisition system;
The support base is used to support whole robot, and the pillar is vertically fixed on the support base;
The traction angle adjusting means is fixed on the top of the pillar, and parallel with the support base;The traction angle Adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor;The screw mandrel slide unit is fixed It is used to pull the sliding block in the top of the cross bar, and with the sliding block that can be slided on the screw mandrel slide unit, second motor Slided on screw mandrel slide unit;A pulley has been fixedly connected with below the sliding block;The steel cable connection of the stay wire displacement sensor In the sliding block, for detecting the displacement of sliding block;
The soft force control device includes base, and fixed the first motor on base and reducer assemblies, shaft coupling, Torque sensing device assembly and line wheel component, the base are fixed on the support base, and the first motor is exported by decelerator and turned round Square, shaft coupling one end connect the decelerator, and the other end connects the line wheel component, the traction is wrapped on the line wheel component Rope, the torque sensing device assembly are arranged between shaft coupling and line wheel component, for detecting in real time and feeding back output torque Size;When the first motor works, it can drive line wheel component to rotate, so as to pulling traction rope rope;
Two pulleys are secured on the pillar, a pulley is secured below the cross bar, is wound on the line wheel component Drag rope sequentially pass through two pulleys on pillar, the pulley being then passed through on cross bar, then pass through the pulley on sliding block, most After be connected to the traction headgear;
Four pulley structures are identical, including pulley body, pulley housings, pulley support piece and pulley cushion block, the pulley Housing wires up pulley body, and pulley body can rotate in the pulley housings, left in pulley housings and may pass through traction The hole of rope, the pulley support piece are used to connect pulley body and pulley cushion block, and the pulley housings are also connected to the cunning Take turns on support chip, the pulley cushion block is fixedly connected on the pillar, cross bar or sliding block;
The lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotation platform, electric pushrod Can drivening rod promote rotary shaft to be rotated, rotary shaft connection angle sensor, the angular transducer is used to detecting described The anglec of rotation of rotary shaft, rotation platform are fixed on the rotary shaft, and the adjustable seat is fixedly mounted on rotation platform;
Computer control and acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensor group Part, angle sensor device assembly are connected, and the angle of traction can be calculated by the testing result of the stay wire displacement sensor, can be led to The testing result for crossing the angular transducer calculates the anglec of rotation of rotary seat, and the traction angle that can be set according to doctor controls Second motor, the anglec of rotation that can be set according to doctor control the electric pushrod, can be according to the torque sensor group The signal of part feedback, controls the output torque of the first motor, realizes the soft control of tractive force;Can active control above-mentioned two electricity The work of machine, also can the passively course of work of two motors of acquisition and recording and the detection data of three sensors, 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 cervical vertebra Distraction procedure.
2. vertebrae traction recovering robot according to claim 1, it is characterised in that the effective travel of the screw mandrel slide unit For 800mm.
3. according to the vertebrae traction recovering robot described in claim 1-2 any one, it is characterised in that the traction angle The traction angle that adjusting means allows is -15 degree to+45 degree.
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CN106989256A (en) * 2017-02-15 2017-07-28 中山市紫科智能科技有限公司 A kind of self-propelled virtual reality camera shoots stable head
CN107625549A (en) * 2017-09-26 2018-01-26 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 Wrist joint videoendoscopic surgery hitch frame
CN107669388B (en) * 2017-11-09 2024-01-02 江苏兴鑫医用设备有限公司 Portable winding type electric cervical vertebra tractor

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CN2184414Y (en) * 1993-12-24 1994-12-07 第四军医大学西京医院康复医疗中心 Multi-angle cervical spondylopathy traction therapeutic device
CN2202740Y (en) * 1994-07-20 1995-07-05 国营四七一厂 Fully-closed shock-resistance protecting hood for pulley of hook
CN1440732A (en) * 2003-02-18 2003-09-10 张吉林 Fast cervical spondylopathy treating instrument
CN201253279Y (en) * 2008-09-17 2009-06-10 周建平 Cervical vertebra multi-direction synthetic traction chair
CN203042565U (en) * 2013-01-09 2013-07-10 安阳市翔宇医疗设备有限责任公司 Cervical spine traction machine with massage function

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