CN106074072A - A kind of patella ulnaris joint traction recovering robot and line wheel thereof - Google Patents
A kind of patella ulnaris joint traction recovering robot and line wheel thereof Download PDFInfo
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- CN106074072A CN106074072A CN201610368914.2A CN201610368914A CN106074072A CN 106074072 A CN106074072 A CN 106074072A CN 201610368914 A CN201610368914 A CN 201610368914A CN 106074072 A CN106074072 A CN 106074072A
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- traction
- main body
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- slide block
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- 210000004417 patella Anatomy 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000001276 controlling effect Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000008520 organization Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
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- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
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- 230000008569 process Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 210000002310 elbow joint Anatomy 0.000 abstract description 11
- 210000000629 knee joint Anatomy 0.000 abstract description 5
- 208000012659 Joint disease Diseases 0.000 abstract description 4
- 238000012549 training Methods 0.000 description 6
- 238000011282 treatment Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 206010062575 Muscle contracture Diseases 0.000 description 3
- 208000006111 contracture Diseases 0.000 description 3
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 208000031737 Tissue Adhesions Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000003797 carpal joint Anatomy 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 210000005067 joint tissue Anatomy 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241001260012 Bursa Species 0.000 description 1
- 206010016654 Fibrosis Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 206010059240 Lymphostasis Diseases 0.000 description 1
- 206010030113 Oedema Diseases 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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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)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of patella ulnaris joint traction recovering robot and line wheel thereof, described line wheel includes line wheel body, two fixing nails 1 of line wheel and two fixing nails 2 of line wheel；After two fixing nails 1 of line wheel are tightened by two countersunk head screwed holes of line wheel body one end, insert in the keyway of phase connecting shaft；The other end of described line wheel body is connected to a support shaft, after two fixing nails 2 of line wheel are tightened by two countersunk head screwed holes of the line wheel body other end, inserts in the keyway of support shaft.The robot of the present invention can realize elbow joint and knee joint traction angle and the control accurate of pull strength size, patient can be carried out omnibearing rehabilitation, be greatly shortened the rehabilitation duration of patella ulnaris joint disease.
Description
[technical field]
The present invention relates to rehabilitation medical robot field, particularly relate to a kind of patella ulnaris joint traction recovering robot and line thereof
Wheel.
[background technology]
Knee joint disorders be knee joint and surrounding fracture operation thereof and inside and outside fixing after the most common complication.Due to
Long-time braking, limb activity reduce, and can cause Quadriceps mechanism and cause tissue edema, fiber to ooze because of blood and lymphostasis
Go out, fiber deposits in interstice, and causes Surrounding muscles fibrosis, contracture and adhesion, and suprapatellar bursa adhesion is so that disappearing completely
Lose, make the slip between quadriceps femoris and tendon and femur disappear, thus joint motion is limited.After elbow joint wound, due to
In and (outward) fix the impact of long-term immobilization, the dysfunction that main sequela is joint tissue adhesion and cicatricial contracture causes.
Clinical manifestation be elbow joint active movement and passive activity scope limited, severe patient involves shoulder joint and carpal joint.
After elbow joint wound, due to the interior and impact of (outward) fixing long-term immobilization, main sequela is joint tissue adhesion
The dysfunction caused with cicatricial contracture.Clinical manifestation be elbow joint active movement and passive activity scope limited, severe patient ripple
And shoulder joint and carpal joint
Joint Mobilization: by therapist carry out passive elbow joint bend and stretch, spinfunction training.Need to supervise nursing staff
Superintend and direct and under guidance, be the patient that elbow joint bends and stretches, spinfunction is trained.
At present, clinical primary treatments has Drug therapy, drawing method, massotherapy, Physical.The treatment of traction treatment
Be by therapist carry out passive elbow joint bend and stretch, spinfunction training.Need to do elbow joint under nursing staff supervises and guides
Bend and stretch, spinfunction training patient.The most this kind of therapy must be carried out under the guidance of regular doctor, is otherwise easy to allow
The state of an illness is aggravated.But, doctor's limited amount and patient is just difficult to time more make all patients obtain rehabilitation training timely, this
Time carry out rehabilitation if by medical machinery and just have and the biggest wish to improve the efficiency of rehabilitation and effect.Continuous along with medical machinery
Development, Many researchers utilizes the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, and integrative medicine theory sets
The recovery training method that meter makes new advances.Rehabilitation medical robot can help patient to carry out as a kind of automatization rehabilitation medicine equipment
Science and effective rehabilitation training recover the motion function of its damage location.The most domestic having for lumbar vertebra rehabilitation treatment
Some patent achievements, and these achievements all have limitation definitely, if the degree of freedom of motion is less, simulation doctor treated
Journey scarce capacity, fixing not steadily, dress the most comfortable etc..
[summary of the invention]
Present invention is generally directed to joint function disturbance patient/old people's degenerative joint patient/joint injury/shin bond fission/
Post-operative recovery/hemiplegias etc., carry out Machine Design in conjunction with robotics, kinesiology, ergonomics scheduling theory, and multi-joint leads
Draw healing robot and can meet elbow joint and the traction requirements of knee joint sufferer in various degree, it is also possible to make doctor/rehabilitation teacher couple
Joint disease physics traction therapeutic method and the standardization for the treatment of prescription.
In order to achieve the above object, the technical scheme that the present invention proposes is as follows:
A kind of patella ulnaris joint traction recovering robot, this robot includes that a support component, bed main body, fixing band unload the goods from the airplane soon
Structure, drag rope, traction angle governor motion, gentle force controlling organization, computer control and acquisition system；
Described support component is for supporting all parts of described robot；
Described bed main body is for supporting and immobilized patients, and described fixing band quick-release mechanism is arranged in a main body, and with bed
The axis of main body is made symmetrical, for quickly connecting and removal fixing band；The lower section of described bed main body has a cylinder, passes through
The flexible height that can regulate a main body of cylinder；
Described traction angle governor motion is for regulating the traction angle of drag rope, and it includes screw mandrel slide unit, controls electricity
Machine and displacement transducer；Described screw mandrel slide unit is vertically fixed on a support component, and the slide block on screw mandrel slide unit can be along Vertical Square
To sliding up and down；Described control motor is used for pulling this slide block to slide on screw mandrel slide unit；Described slide block is towards the one of bed main body
End secures a pulley, for through drag rope；Institute's displacement sensors can measure slide block position on screw mandrel slide unit
Move；
Described gentle force controlling organization includes traction electric machine, decelerator, shaft coupling, torque sensor and line wheel；Described lead
Draw motor to be connected with this decelerator, by decelerator export moment of torsion, described shaft coupling one end driving member connection reducer, another
End output is connected to line wheel, and this line wheel is wrapped drag rope.Described torque sensor is arranged between shaft coupling and line wheel,
For detection in real time and the size of feedback output moment of torsion；
Described line wheel includes line wheel body, two fixing nails 1 of line wheel and two fixing nails 2 of line wheel；Described line wheel body
One end is connected to torque sensor, and the axle that this torque sensor is connected with line wheel has keyway, and two fixing nails 1 of line wheel pass through line
After two countersunk head screwed holes of wheel body one end tighten, insert in described keyway；The other end of described line wheel body is connected to one
Root support shaft, this support shaft is fixed on a support component by support shaft bearing；Two fixing nails 2 of line wheel are another by line wheel body
After two countersunk head screwed holes of one end tighten, insert in the keyway of support shaft；
Described drag rope takes turns pull-out from the line of gentle force controlling organization, through the described slide block of traction angle governor motion
On pulley, then be fixed on shank or the forearm of patient；
Described computer control with acquisition system respectively with above-mentioned control motor, traction electric machine and above-mentioned displacement sensing
Device, torque sensor, cylinder are connected, and can be calculated the angle of traction by the testing result of institute's displacement sensors, can be according to setting
The traction angle put controls described control motor and pulls slide block, and the signal that can feed back according to described torque sensor controls traction
The output moment of torsion of motor, it is achieved the soft control of pull strength；The flexible of described cylinder can be controlled；Can actively control above-mentioned two motor
Work, it is possible to the work process of passive two motors of acquisition and recording, the procedural information collected is archived to database file
In, motor work can be controlled according to described database file afterwards, thus reappear distraction procedure.
Further, this robot also includes man-machine interaction interface, and described computer controls with acquisition system by this people
Machine interactive interface operates.
Preferably, described bed main body is provided with 2-10 fixing band quick-release mechanism.
Further, described support component includes the components of supporting bed main body, also includes supporting traction angle regulation
Mechanism and the components of gentle force controlling organization.
The solution have the advantages that: the robot of the present invention can realize elbow joint and knee joint traction angle and traction
The control accurate of power size, can carry out omnibearing rehabilitation to patient, when being greatly shortened the rehabilitation of patella ulnaris joint disease
Between.
[accompanying drawing explanation]
Accompanying drawing described herein is used to provide a further understanding of the present invention, constitutes the part of the application, but
It is not intended that inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is the population structure schematic diagram of the present invention；
Fig. 2 is the traction angle governor motion schematic diagram of the present invention；
Fig. 3 is the gentle force controlling organization schematic diagram of the present invention；
Fig. 4 is the line wheel construction schematic diagram of the present invention.
[detailed description of the invention]
The present invention is described in detail, illustrative examples therein and saying below in conjunction with accompanying drawing and specific embodiment
Bright being only used for explains the present invention, but is not intended as inappropriate limitation of the present invention.
Seeing accompanying drawing 1, the patella ulnaris joint traction recovering robot of the present invention includes support component, a bed master on population structure
Body, fixing band quick-release mechanism, drag rope, traction angle governor motion, gentle force controlling organization, computer control and gather system
System, man-machine interaction interface.
Described support component is for supporting all parts of robot of the present invention, including being positioned at a main body supported underneath bed master
The components of body, also includes supporting traction angle governor motion and the components of gentle force controlling organization.
Described bed main body, for supporting and immobilized patients, is provided with 2-10 fixing band in described bed main body and unloads the goods from the airplane soon
Structure, described fixing band quick-release mechanism is made symmetrical with the axis of bed main body, for quickly connecting 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 two 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 regulate a main body of cylinder, to adapt to difference
The height requirement of patient.Computer controls to control the flexible of this cylinder with acquisition system.
See accompanying drawing 2, it illustrates the traction angle governor motion of the present invention.Described traction angle governor motion is used for adjusting
The traction angle of joint drag rope, it includes screw mandrel slide unit, controls motor, displacement transducer.Described screw mandrel slide unit is vertically fixed
On a support component so that the slide block of screw mandrel slide unit can vertically slide up and down；Described control motor is used for pulling this
Slide block slides up and down on screw mandrel slide unit；Described slide block secures a pulley towards one end of bed main body, for through traction
Rope；Institute's displacement sensors can measure slide block displacement on screw mandrel slide unit, calculates and controls to pass through slide block with acquisition system
Displacement can calculate the traction angle of drag rope, or calculate the displacement of slide block according to the traction angle set, then
Controlling described control motor pulls slide block to arrive corresponding position.
Seeing accompanying drawing 3, it illustrates the gentle force controlling organization of the present invention, described gentle force controlling organization includes traction electricity
Machine, decelerator, shaft coupling, torque sensor and line wheel；Described traction electric machine is connected with this decelerator, is turned round by decelerator output
Square, described shaft coupling one end driving member connection reducer, other end output moment of torsion is taken turns to line, and this line wheel is wrapped pull rope
Rope.Described torque sensor is arranged between shaft coupling and line wheel, for detection in real time and the size of feedback output moment of torsion.When leading
When drawing motor work, it can band moving-wire round move, thus pulling traction rope rope, it is achieved traction kneed to elbow.Computer control
The signal that system can be fed back according to described torque sensor with acquisition system, controls the output moment of torsion of traction electric machine, it is achieved traction
The soft control of power.
See accompanying drawing 4, it illustrates gentle force controlling organization described line wheel structure, this line wheel include line wheel body,
Two fixing nails 1 of line wheel and two fixing nails 2 of line wheel；One end of described line wheel body is connected to torque sensor, and this moment of torsion passes
The axle that sensor is connected with line wheel has keyway, and two fixing nails 1 of line wheel are turned round by two countersunk head screwed holes of line wheel body one end
After Jin, insert in described keyway；The other end of described line wheel body is connected to a support shaft, and this support shaft is propped up by support shaft
Seat is fixed on a support component；After two fixing nails 2 of line wheel are tightened by two countersunk head screwed holes of the line wheel body other end, insert
Enter in the keyway of support shaft.
Described drag rope takes turns pull-out from the line of gentle force controlling organization, on the slide block of traction angle governor motion
Pulley, then be fixed on shank or the forearm of patient.
Described computer control with acquisition system respectively with above-mentioned control motor, traction electric machine and displacement transducer, torsion
Square sensor is connected, and on the one hand can actively control the motion of two motors, to arrange traction angle and pull strength；The opposing party
Face can gather the exercise data of said two motor and the detection data of two sensors, by the archives data collected to counting
According in library file, motor work can be controlled according to described database file afterwards, thus reappear patella ulnaris joint distraction procedure.
Two motors are controlled to be controlled by man-machine interaction interface with acquisition system by computer, can complete two
The active Loading Control (the most directly controlling the motion of motor to draw patient) of motor, passive load information collection are (i.e. first by curing
Teacher actively controls, and when drawing the patient being fixed in robot of the present invention, computer controls every with acquisition system record
The work process of individual motor), the information gathered carry out actively reappearing controls (i.e. reappear being moved through of each motor of being recorded
Journey is to simulate the therapeutic process of doctor).
The work process of the present invention is as follows:
When using the healing robot of the present invention, patient first couches in the bed main body of the present invention, position adjustment suitable it
After, first patient thigh or large arm fixing band are fixed in a main body, then drag rope is fixedly attached to the little of patient
Lower limb or forearm, by computer control and acquisition system, the height of the adjustable bed main body of doctor, traction angle also can be set, meter
Calculation machine controls with acquisition system by adjusting the slide position in traction angle adjusting means, it is achieved the adjustment of traction angle, so
Rear doctor can control to operate soft force control device with acquisition system by computer, draws cervical vertebra, its Computer
Control the signal fed back according to described torque sensor assembly with acquisition system, control the output moment of torsion of described traction electric machine, real
The soft control of existing pull strength.Computer controls to gather the work process of each motor with acquisition system and store number
According in library file, after whole process collection storing, carry out actively loading to each motor according to the information of storage, multiple
The output of existing each motor, it is achieved the simulation to medical treatment process.Traction can be regulated by the loading frequency of regulation motor
During motor output speed.When reusing, directly can directly carry out rehabilitation according to the file stored.
The above is only the better embodiment of the present invention, thus all according to the structure described in present patent application scope,
The equivalence that feature and principle are done changes or modifies, in the range of being all included in present patent application.
Claims (4)
1. a patella ulnaris joint traction recovering robot, it is characterised in that this robot includes a support component, bed main body, fixes
Band quick-release mechanism, drag rope, traction angle governor motion, gentle force controlling organization, computer control and acquisition system；
Described support component is for supporting all parts of described robot；
Described bed main body is for supporting and immobilized patients, and described fixing band quick-release mechanism is arranged in a main body, and with bed main body
Axis make symmetrical, for quickly connecting and removal fixing band；The lower section of described bed main body has a cylinder, by cylinder
The flexible height that can regulate a main body；
Described traction angle governor motion for regulating the traction angle of drag rope, it include screw mandrel slide unit, control motor and
Displacement transducer；Described screw mandrel slide unit is vertically fixed on a support component, and the slide block on screw mandrel slide unit can vertically be gone up
Lower slider；Described control motor is used for pulling this slide block to slide on screw mandrel slide unit；Described slide block is solid towards one end of bed main body
Determine a pulley, for through drag rope；Institute's displacement sensors can measure slide block displacement on screw mandrel slide unit；
Described gentle force controlling organization includes traction electric machine, decelerator, shaft coupling, torque sensor and line wheel；Described traction electricity
Machine is connected with this decelerator, exports moment of torsion by decelerator, and described shaft coupling one end driving member connection reducer, the other end is defeated
Go out moment of torsion to take turns to line, this line wheel is wrapped drag rope.Described torque sensor is arranged between shaft coupling and line wheel, is used for
Detection in real time and the size of feedback output moment of torsion；
Described line wheel includes line wheel body, two fixing nails 1 of line wheel and two fixing nails 2 of line wheel；One end of described line wheel body
Being connected to torque sensor, the axle that this torque sensor is connected with line wheel has keyway, and two fixing nails 1 of line wheel lead to wire-crossing wheel master
After two countersunk head screwed holes of body one end tighten, insert in described keyway；The other end of described line wheel body is connected to one
Support axle, this support shaft is fixed on a support component by support shaft bearing；Two fixing nails 2 of line wheel are by the line wheel body other end
Two countersunk head screwed holes tighten after, insert support shaft keyway in；
Described drag rope takes turns pull-out from the line of gentle force controlling organization, on the described slide block of traction angle governor motion
Pulley, then be fixed on shank or the forearm of patient；
Described computer control with acquisition system respectively with above-mentioned control motor, traction electric machine and upper displacement sensors, torsion
Square sensor, cylinder are connected, and can be calculated the angle of traction by the testing result of institute's displacement sensors, can be according to leading of arranging
Draw control motor described in Angle ambiguity and pull slide block, the signal that can feed back according to described torque sensor, control traction electric machine
Output moment of torsion, it is achieved the soft control of pull strength；The flexible of described cylinder can be controlled；Can actively control the work of above-mentioned two motor
Make, it is possible to the work process of passive two motors of acquisition and recording, the procedural information collected is archived in database file, it
After can control motor work according to described database file, thus reappear distraction procedure.
Patella ulnaris joint traction recovering robot the most according to claim 1, it is characterised in that this robot also includes man-machine
Interactive interface, described computer controls to be operated by this man-machine interaction interface with acquisition system.
3. according to the patella ulnaris joint traction recovering robot described in claim 1-2 any one, it is characterised in that at described bed
2-10 fixing band quick-release mechanism it is provided with in main body.
4. according to the patella ulnaris joint traction recovering robot described in claim 1-3 any one, it is characterised in that described support
Assembly includes the components of supporting bed main body, also includes supporting traction angle governor motion and the assembly of gentle force controlling organization
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368914.2A CN106074072B (en) | 2016-05-30 | 2016-05-30 | A kind of patella ulnaris joint traction recovering robot and its line wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368914.2A CN106074072B (en) | 2016-05-30 | 2016-05-30 | A kind of patella ulnaris joint traction recovering robot and its line wheel |
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| Publication Number | Publication Date |
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| CN106074072A true CN106074072A (en) | 2016-11-09 |
| CN106074072B CN106074072B (en) | 2018-05-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108056848A (en) * | 2017-12-11 | 2018-05-22 | 宁耀超 | A kind of rehabilitation department is used for the separation draft gear that knee joint loosens |
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| US20050010152A1 (en) * | 2003-07-10 | 2005-01-13 | Carlos Becerra | Cervical distraction device |
| WO2009017747A1 (en) * | 2007-07-30 | 2009-02-05 | Boston University | Method and device for gravity like simulation of natural balance movements |
| US7544175B1 (en) * | 2002-09-10 | 2009-06-09 | D Amico Anthony T | Traction device for physical therapy |
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