CN106074072B - A kind of patella ulnaris joint traction recovering robot and its line wheel - Google Patents
A kind of patella ulnaris joint traction recovering robot and its line wheel Download PDFInfo
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- CN106074072B CN106074072B CN201610368914.2A CN201610368914A CN106074072B CN 106074072 B CN106074072 B CN 106074072B CN 201610368914 A CN201610368914 A CN 201610368914A CN 106074072 B CN106074072 B CN 106074072B
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- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 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
- 230000033001 locomotion Effects 0.000 description 6
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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 its line wheel, the line wheel includes line wheel main body, two line wheel fixing glues 1 and two line wheel fixing glues 2；After two line wheel fixing glues 1 are tightened by two countersunk head threaded holes of line wheel main body one end, it is inserted into the keyway of phase connecting shaft；The other end of the line wheel main body is connected to a support shaft, after two line wheel fixing glues 2 are tightened by two countersunk head threaded holes of the line wheel main body other end, is inserted into 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 tractive force size, can carry out comprehensive rehabilitation to patient, greatly shorten the rehabilitation duration of patella ulnaris joint disease.
Description
【Technical field】
The present invention relates to rehabilitation medical robot field, more particularly to a kind of patella ulnaris joint traction recovering robot and its line
Wheel.
【Background technology】
Knee joint disorders are common complication after knee joint and its surrounding fracture operation and inside and outside fixation.Due to
Braking for a long time, limb activity are reduced, and Quadriceps mechanism tissue edema, fiber caused by blood and lymphostasis can be caused to ooze
Go out, fiber is deposited in tissue space, and causes Surrounding muscles fibrosis, contracture and adhesion, suprapatellar bursa adhesion so that disappear completely
Lose, the slip between quadriceps muscle of thigh and its tendon and femur is disappeared, thus joint motion is limited.After elbow joint wound, due to
The influence of interior and (outer) fixed long-term immobilization, main sequelae are dysfunction caused by joint tissue adhesion and cicatricial contracture.
Clinical manifestation is limited for elbow joint active movement and passive activity scope, and severe patient involves shoulder joint and wrist joint.
After elbow joint wound, due to the influence of interior and (outer) fixed long-term immobilization, main sequelae is joint tissue adhesion
With dysfunction caused by cicatricial contracture.Clinical manifestation is limited for elbow joint active movement and passive activity scope, severe patient's ripple
And shoulder joint and wrist joint
Joint Mobilization：By therapist carry out passive elbow joint bend and stretch, spinfunction training.Need to supervise in nursing staff
Superintend and direct the patient for doing that elbow joint is bent and stretched, spinfunction is trained under instructing.
At present, clinical primary treatments have drug therapy, drawing method, massage, Physical.The treatment of traction treatment
Be by therapist carry out passive elbow joint bend and stretch, spinfunction training.Need to do elbow joint in the case where nursing staff supervises and guides
Bend and stretch, the patient of spinfunction training.But this kind of therapy has to carry out under the guidance of regular doctor, is otherwise easy to allow
The state of an illness is aggravated.However, doctor's limited amount and when more patient, are just not easy to make all patients all obtain timely rehabilitation training, this
When carry out rehabilitation if by medical machinery and just have the very big efficiency and effect for wishing to improve rehabilitation.It is continuous with medical machinery
Development, Many researchers utilize the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, and integrative medicine theory is set
Count out new recovery training method.Rehabilitation medical robot can help patient to carry out as a kind of automation rehabilitation medicine equipment
Science and effective rehabilitation training recover the motion function of its damage location.Domestic having for lumbar vertebra rehabilitation treatment at present
Some patent achievements, and these achievements have definitely limitation, the free degree that can such as move is less, simulation doctor treated
Journey scarce capacity, fixation is not steady enough, wearing is not comfortable etc. enough.
【The content of the invention】
Present invention is generally directed to the fracture of joint function disturbance patient/the elderly's degenerative joint patient/joint injury/shin key/
Post-operative recovery/hemiplegia etc., carries out Machine Design, multi-joint is led with reference to robotics, human cinology, ergonomics scheduling theory
Draw the traction requirements that healing robot can meet different degrees of elbow joint and knee joint sufferer, doctor/rehabilitation teacher couple can also be made
The standardization of joint disease physics traction therapeutic method and treatment prescription.
In order to achieve the above object, technical solution proposed by the present invention is as follows：
A kind of patella ulnaris joint traction recovering robot, the robot include support component, bed main body, fixed band and unload the goods from the airplane soon
Structure, drag rope, traction angle adjusting mechanism, gentle force control mechanism, computer control and acquisition system；
The support component is used to support all parts of the robot；
The bed main body is used to support and immobilized patients, and the fixed band quick-release mechanism is arranged in a main body, and with bed
The axis of main body make it is symmetrical, for quickly connect and removal fix band；The lower section of the bed main body has a cylinder, passes through
The flexible height that can adjust a main body of cylinder；
The traction angle adjusting mechanism is used for the traction angle for adjusting drag rope, it includes screw slide unit, control electricity
Machine and displacement sensor；The screw slide unit is vertically fixed in support component, and the sliding block on screw slide unit can be along Vertical Square
To sliding up and down；The control motor is used to pull the sliding block to slide on screw slide unit；The sliding block towards bed main body one
End secures a pulley, for through drag rope；Institute's displacement sensors can measure position of the sliding block on screw slide unit
Move；
The gentle force control mechanism includes traction electric machine, retarder, shaft coupling, torque sensor and line wheel；It is described to lead
Draw motor to be connected with the retarder, by retarder output torque, described shaft coupling one end connects retarder with driving member, another
End output is connected to line wheel, and drag rope is wrapped in the line wheel.The torque sensor is arranged between shaft coupling and line wheel,
For detecting and feeding back the size of output torque in real time；
The line wheel includes line wheel main body, two line wheel fixing glue A and two line wheel fixing glue B；The line wheel main body
One end is connected to torque sensor, and the axis which is connected with line wheel has keyway, and two line wheel fixing glue A pass through line
After two countersunk head threaded holes of wheel body one end tighten, it is inserted into the keyway；The other end of the line wheel main body is connected to one
Root support shaft, the support shaft is by supporting shaft stool to be fixed in support component；Two line wheel fixing glue B are another by line wheel main body
After two countersunk head threaded holes of one end tighten, it is inserted into the keyway of support shaft；
The drag rope is pulled out from the line wheel of gentle force control mechanism, through the sliding block of traction angle adjusting mechanism
On pulley, then be fixed on the shank or forearm of patient；
Computer control and acquisition system respectively with above-mentioned control motor, traction electric machine and above-mentioned displacement sensing
Device, torque sensor, cylinder are connected, and the angle of traction can be calculated by the testing result of institute's displacement sensors, can be according to setting
The traction angle control control motor put pulls sliding block, the signal that can be fed back according to the torque sensor, control traction
The output torque of motor, realizes the soft control of tractive force；It can control the flexible of the cylinder；Can active control above-mentioned two motor
Work, also can passive two motors of acquisition and recording the course of work, the procedural information collected is archived to database file
In, motor work can be controlled according to the database file afterwards, so as to reappear distraction procedure.
Further, which further includes man-machine interaction interface, and the computer control passes through the people with acquisition system
Machine interactive interface is operated.
Preferably, 2-10 fixed band quick-release mechanism is provided with the bed main body.
Further, the support component includes the components of supporting bed main body, further includes support traction angle and adjusts
The components of mechanism and gentle force control mechanism.
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 comprehensive rehabilitation, when greatly shortening the rehabilitation of patella ulnaris joint disease to patient
Between.
【Brief description of the drawings】
Attached drawing described herein be for providing a further understanding of the present invention, forming the part of the application, but
Inappropriate limitation of the present invention is not formed, in the accompanying drawings：
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the traction angle adjusting mechanism schematic diagram of the present invention；
Fig. 3 is the gentle force control mechanism schematic diagram of the present invention；
Fig. 4 is the line wheel structure diagram of the present invention.
【Embodiment】
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and say
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 attached drawing 1, patella ulnaris joint traction recovering robot of the invention includes support component, bed master in overall structure
Body, fixed band quick-release mechanism, drag rope, traction angle adjusting mechanism, gentle force control mechanism, computer control are with collection
System, man-machine interaction interface.
The support component is used to support all parts of robot of the present invention, including positioned at bed main body supported underneath bed master
The components of body, further include the components of support traction angle adjusting mechanism and gentle force control mechanism.
The bed main body is used to support and immobilized patients, and there is provided 2-10 fixed band in the bed main body to unload the goods from the airplane soon
Structure, the fixation made with quick-release mechanism with the axis of bed main body it is symmetrical, for quickly connect and removal fix band.Work as patient
Thigh or large arm when being positioned in a main body, fix thigh or large arm with fixed band, the both ends of fixed band are connected to
On one fixed band quick-release mechanism.
There is a cylinder in the lower section of bed main body, by the flexible height that can adjust a main body of cylinder, to adapt to difference
The height requirement of patient.Computer is controlled can control the flexible of the cylinder with acquisition system.
Referring to attached drawing 2, it illustrates the traction angle adjusting mechanism of the present invention.The traction angle adjusting mechanism is used to adjust
The traction angle of drag rope is saved, it includes screw slide unit, control motor, displacement sensor.The screw slide unit is vertically fixed
In support component so that the sliding block of screw slide unit can be slided up and down along vertical direction；The control motor is used to pull this
Sliding block slides up and down on screw slide unit；One end of the sliding block towards bed main body secures a pulley, for through traction
Rope；Institute's displacement sensors can measure displacement of the sliding block on screw slide unit, calculate control and pass through sliding block with acquisition system
Displacement can calculate the traction angle of drag rope, or the displacement of sliding block is calculated according to the traction angle of setting, then
The control motor is controlled to pull sliding block to corresponding position.
Referring to attached drawing 3, it illustrates the gentle force control mechanism of the present invention, the gentle force control mechanism includes traction electricity
Machine, retarder, shaft coupling, torque sensor and line wheel；The traction electric machine is connected with the retarder, is exported and turned round by retarder
Square, described shaft coupling one end connect retarder with driving member, and other end output torque is wrapped traction rope to line wheel in the line wheel
Rope.The torque sensor is arranged between shaft coupling and line wheel, for detecting and feeding back the size of output torque in real time.When leading
When drawing motor work, it can drive line wheel to rotate, so as to pull drag rope, realize to the kneed traction of elbow.Computer control
The signal that system can be fed back with acquisition system according to the torque sensor, controls the output torque of traction electric machine, realizes traction
The soft control of power.
Referring to attached drawing 4, it illustrates the structure of the line wheel of gentle force control mechanism, the line wheel include line wheel main body,
Two line wheel fixing glues 1 and two line wheel fixing glues 2；One end of the line wheel main body is connected to torque sensor, which passes
The axis that sensor is connected with line wheel has keyway, and two line wheel fixing glues 1 are turned round by two countersunk head threaded holes of line wheel main body one end
It is next, it is inserted into the keyway；The other end of the line wheel main body is connected to a support shaft, which passes through support shaft branch
Seat is fixed in support component；After two line wheel fixing glues 2 are tightened by two countersunk head threaded holes of the line wheel main body other end, insert
Enter in the keyway of support shaft.
The drag rope is pulled out from the line wheel of gentle force control mechanism, through on the sliding block of traction angle adjusting mechanism
Pulley, then be fixed on the shank or forearm of patient.
Computer control and acquisition system respectively with above-mentioned control motor, traction electric machine and displacement sensor, torsion
Square sensor is connected, on the one hand can be with the movement of two motors of active control, to set traction angle and tractive force；The opposing party
Face can gather the exercise data of described two motors and the detection data of two sensors, by the archives data collected to number
According in library file, motor work can be controlled according to the database file afterwards, so as to reappear patella ulnaris joint distraction procedure.
Two motors are controlled by computer and are controlled with acquisition system by man-machine interaction interface, can be completed to two
The active Loading Control (directly controlling the movement of motor to draw patient) of motor, (i.e. elder generation is by curing for the collection of passive load information
Teacher's active control, when being drawn to the patient being fixed in robot of the present invention, computer control and acquisition system record are every
The course of work of a motor), actively reproduction control is carried out to the information of collection, and (each motor that i.e. reproduction is recorded is moved through
Journey is to simulate the therapeutic process of doctor).
The course of work of the present invention is as follows：
Using the present invention healing robot when, patient first lies down in the bed main body of the present invention, position adjustment it is suitable it
Afterwards, first patient thigh or large arm are fixed in a main body with fixed band, drag rope is then fixedly attached to the small of patient
Leg or forearm, by computer control and acquisition system, the height of the adjustable bed main body of doctor, can also set traction angle, meter
Calculation machine is controlled with acquisition system by adjusting the slide position in traction angle regulating device, realizes the adjustment of traction angle, so
Doctor can be controlled by computer and operate soft force control device with acquisition system afterwards, cervical vertebra be drawn, its Computer
The signal that control is fed back with acquisition system according to the torque sensing device assembly, controls the output torque of the traction electric machine, real
The soft control of existing tractive force.Computer, which is controlled, can also gather the course of work of each motor with acquisition system and store to number
According in library file, after whole process is gathered and stored, active loading is carried out to each motor according to the information of storage, it is multiple
The now output of each motor, realizes the simulation to medical treatment process.Traction can be adjusted by the loading frequency of regulation motor
During motor export speed.When reusing, rehabilitation can directly directly be carried out according to stored file.
The above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application scope,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (4)
1. a kind of patella ulnaris joint traction recovering robot, it is characterised in that the robot includes support component, bed main body, fixation
Band quick-release mechanism, drag rope, traction angle adjusting mechanism, gentle force control mechanism, computer control and acquisition system；
The support component is used to support all parts of the robot；
The bed main body is used to support and immobilized patients, and the fixed band quick-release mechanism is arranged in a main body, and with bed main body
Axis make it is symmetrical, for quickly connect and removal fix band；The lower section of the bed main body has a cylinder, passes through cylinder
The flexible height that can adjust a main body；
The traction angle adjusting mechanism is used to adjust the traction angle of drag rope, it includes screw slide unit, control motor and
Displacement sensor；The screw slide unit is vertically fixed in support component, and the sliding block on screw slide unit can be along in vertical direction
Lower slider；The control motor is used to pull the sliding block to slide on screw slide unit；One end of the sliding block towards bed main body is consolidated
A pulley is determined, for through drag rope；Institute's displacement sensors can measure displacement of the sliding block on screw slide unit；
The gentle force control mechanism includes traction electric machine, retarder, shaft coupling, torque sensor and line wheel；The traction electricity
Machine is connected with the retarder, and by retarder output torque, described shaft coupling one end connects retarder with driving member, and the other end is defeated
Go out moment of torsion to line wheel, drag rope is wrapped in the line wheel；The torque sensor is arranged between shaft coupling and line wheel, is used for
Detection in real time and the size of feedback output torque；
The line wheel includes line wheel main body, two line wheel fixing glue A and two line wheel fixing glue B；One end of the line wheel main body
Torque sensor is connected to, the axis which is connected with line wheel has keyway, and two line wheel fixing glue A pass through line wheel master
After two countersunk head threaded holes of body one end tighten, it is inserted into the keyway；The other end of the line wheel main body is connected to a branch
Axis is supportted, the support shaft is by supporting shaft stool to be fixed in support component；Two line wheel fixing glue B pass through the line wheel main body other end
Two countersunk head threaded holes tighten after, be inserted into the keyway of support shaft；
The drag rope is pulled out from the line wheel of gentle force control mechanism, through on the sliding block of traction angle adjusting mechanism
Pulley, then be fixed on the shank or forearm of patient；
Computer control and acquisition system respectively with above-mentioned control motor, traction electric machine and upper displacement sensors, torsion
Square sensor, cylinder are connected, and the angle of traction can be calculated by the testing result of institute's displacement sensors, can leading according to setting
Draw the angle control control motor and pull sliding block, the signal that can be fed back according to the torque sensor, controls traction electric machine
Output torque, realizes the soft control of tractive force；It can control the flexible of the cylinder；Can active control above-mentioned two motor work
Make, also can passive two motors of acquisition and recording the course of work, the procedural information collected is archived in database file, it
After can according to the database file control motor work, so as to reappear distraction procedure.
2. patella ulnaris joint traction recovering robot according to claim 1, it is characterised in that the robot further includes man-machine
Interactive interface, the computer control are operated with acquisition system by the man-machine interaction interface.
3. the patella ulnaris joint traction recovering robot according to claim 1-2 any one, it is characterised in that in the bed
2-10 fixed band quick-release mechanism is provided with main body.
4. the patella ulnaris joint traction recovering robot according to claim 1-2 any one, it is characterised in that the support
Component includes the components of supporting bed main body, further includes the component of support traction angle adjusting mechanism and gentle force control mechanism
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| 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 CN106074072A (en) | 2016-11-09 |
| CN106074072B true CN106074072B (en) | 2018-05-08 |
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| 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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| 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 |
| CN201257037Y (en) * | 2008-09-28 | 2009-06-17 | 常州市钱璟康复器材有限公司 | Microcomputer traction therapeutic device |
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