CN106726331B - A kind of Post lumbar surgery rehabilitation auxiliary robot - Google Patents
A kind of Post lumbar surgery rehabilitation auxiliary robot Download PDFInfo
- Publication number
- CN106726331B CN106726331B CN201611138299.2A CN201611138299A CN106726331B CN 106726331 B CN106726331 B CN 106726331B CN 201611138299 A CN201611138299 A CN 201611138299A CN 106726331 B CN106726331 B CN 106726331B
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- China
- Prior art keywords
- substrate
- driving motor
- positioning belt
- carrier bar
- waist
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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
- A61H1/001—Apparatus for applying movements to the whole body
- A61H1/003—Rocking or oscillating around a horizontal axis transverse to the body
-
- 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
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
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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)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of Post lumbar surgery rehabilitation auxiliary robots, including positioning belt, control device, regulating mechanism, carrier bar and elastic reset band, positioning belt includes elastomeric overmold substrate, resilient metal strip and locating button, regulating mechanism includes carrying shell, driving motor, angular transducer, pressure sensor, tension sensor and speed probe, carrier bar totally two, and its both ends passes through the adjustment holes of two regulating mechanisms respectively and connect with the driving motor in carrying shell, and by least two elastic reset band connections between two carrier bars.The present invention can be while meeting human body waist flexible motion, separately auxiliary driving force can be provided waist activity and motion range limits, mitigated waist stress intensity to reach, improve waist flexibility and avoid waist movement excessive and aggravation phenomenon is caused to occur.
Description
Technical field
The present invention relates to a kind of medical aids, are exactly a kind of Post lumbar surgery rehabilitation auxiliary robots.
Background technique
The case where being performed the operation at present because of lumbar spine disease is more and more, and the rehabilitation stage after surgery, due to
It is current to lack the effective rehabilitation ancillary equipment of profession, therefore it is extremely slow on the one hand to cause waist disease rehabilitation speed, on the other hand
Cause easily to cause function of human body to damage because of exercise lack in rehabilitation course, also with because motion process to motion range and by
Power is appropriate and causes disease relapse, to seriously affect the quality of waist disease treatment and rehabilitation, on the other hand also increases
The risk of disease relapse, increases the burden at heart of patient, and increases the pain of patient, therefore is directed to this status, compels to be essential
A kind of waist disease rehabilitation ancillary equipment of invention is developed, to meet the needs of actual use.
Summary of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of Post lumbar surgery rehabilitation auxiliary robot.The invention
Structure is simple, flexible and convenient to use, on the one hand has good bearing capacity and stationkeeping ability, on the other hand has effective peace
Full protection ability, so as to while meeting human body waist flexible motion, waist activity can separately be provided auxiliary driving force and
Motion range limitation mitigates waist stress intensity, improves waist flexibility and avoid waist movement excessive and cause to reach
Aggravation phenomenon occurs.
To achieve the goals above, the present invention is to realize by the following technical solutions:
A kind of Post lumbar surgery rehabilitation auxiliary robot, including positioning belt, control device, regulating mechanism, carrier bar and bullet
Property reset strap, positioning belt by least one locating button constitute closed hoop structure, positioning belt include elastomeric overmold substrate,
Resilient metal strip and locating button, resilient metal strip at least two, and the distribution that is parallel to each other, each resilient metal strip are embedded in elastic packet
Cover in substrate and with elastomeric overmold substrate axis parallelly distribute on, elastomeric overmold substrate is banded structure, locating button at least two, and
It is mounted on outside elastomeric overmold substrate, elastomeric overmold substrate constitutes closed hoop structure by locating button, and positioning belt is around patient
Waist installation, control device are mounted on positioning belt outer surface by sliding block and are slidably connected with positioning belt, and regulating mechanism is total
It two, is mounted on positioning belt and is symmetrically distributed at left and right sides of human body with human body middle line, regulating mechanism by sliding block respectively
Including carrying shell, driving motor, angular transducer, pressure sensor, tension sensor and speed probe, carrying shell is transversal
Face airtight cavity in rectangular configuration, carrying shell outer surface set at least one sliding block and hinged with sliding block, guide groove are set on sliding block,
Sliding block is coated on outside positioning belt by guide groove, and driving motor at least two is simultaneously installed in carrying shell, driving by locating rack
Electrical axis and human body axis vertical distribution are simultaneously distributed in the same plane, and two driving motor axis spacing are 5-50 centimetres,
Adjustment hole is set on carrying side surfaces corresponding to driving motor, adjustment hole is coaxially distributed with carrying shell, and adjusts hole length not
It is 1/4-the 3/4 of carrying side surfaces perimeter, the angular transducer and speed probe are installed in each driving motor main shaft
On, if pressure sensor dry doubling is evenly arranged on carrier bar and the contact surface of human contact, tension sensor is several, and is evenly arranged on bullet
Property reset strap on, carrier bar totally two, and its both ends pass through respectively two regulating mechanisms adjustment hole and carrying shell in driving
Motor connection, one of them is in 0 ° -180 ° angles between another each surface, two carrier bars for two carrier bars, and two carryings
By at least two elastic reset band connections between bar, carrier bar passes through two in adjustment hole and regulating mechanism carrying shell respectively
Driving motor connection, control device are passed with driving motor, angular transducer, pressure sensor, tension sensor and revolving speed respectively
Sensor electrical connection.
Further, the elastomeric overmold substrate and carrier bar cross section be rectangle, it is circle, any one in ellipse
Kind.
Further, uniformly distributed several air holes on the elastomeric overmold substrate.
Further, the carrier bar includes hard substrate and elastic insert, and the elastic insert is coated on hard
Outside substrate.
Further, elastic sealing strip is set at the adjustment hole.
The configuration of the present invention is simple, it is flexible and convenient to use, on the one hand there is good bearing capacity and stationkeeping ability, another party
Face has effective security protection ability, so as to can separately mention to waist activity while meeting human body waist flexible motion
It is limited for auxiliary driving force and motion range, mitigates waist stress intensity to reach, improves waist flexibility and avoid waist
Excessive movement and cause aggravation phenomenon occur.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is schematic structural view of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
A kind of Post lumbar surgery rehabilitation auxiliary robot as described in Figure 1, including positioning belt 1, control device 2, adjusting machine
Structure 3, carrier bar 4 and elastic reset band 5, positioning belt 1 constitute closed hoop structure by least one locating button 6, position waist
Band 1 includes elastomeric overmold substrate 101, resilient metal strip 102 and locating button 6, resilient metal strip 102 at least two, and mutually puts down
Row distribution, each resilient metal strip 102 in the elastomeric overmold substrate 101 and with 101 axis parallelly distribute on of elastomeric overmold substrate,
Elastomeric overmold substrate 101 is banded structure, locating button 6 at least two, and being mounted on outside elastomeric overmold substrate 101, elastomeric overmold
Substrate 101 constitutes closed hoop structure by locating button 6, and positioning belt 1 is installed around patient's waist, and control device 2 passes through cunning
Block 7 is mounted on 1 outer surface of positioning belt and is slidably connected with positioning belt 1, regulating mechanism 3 totally two, is pacified respectively by sliding block 7
It is symmetrically distributed at left and right sides of human body on positioning belt 1 and with human body middle line, regulating mechanism 3 includes carrying shell 31, driving
Motor 32, angular transducer 33, pressure sensor 34, tension sensor 35 and speed probe 36, carrying shell 31 are cross section
Airtight cavity in rectangular configuration, carrying shell 31 and sliding block 7 are hinged, and guide groove 8 is set on sliding block 7, and sliding block 7 is wrapped by guide groove 8
It overlays on outside positioning belt 1, driving motor 32 at least two is simultaneously carried in shell 31,32 axis of driving motor by the installation of locating rack 37
With human body axis vertical distribution and be distributed in the same plane, and two driving motors, 32 axis spacing be 5-50 centimetres, driving electricity
Adjustment hole 38, adjustment hole 38 and the carrying coaxial distribution of shell 31, and adjustment hole 38 are set on 31 side surface of carrying shell corresponding to machine 32
Length is not carry 31 side surface perimeter of shell 1/4-3/4, and angular transducer 33 and speed probe 36 are installed in each driving
On 32 main shaft of motor, if 34 dry doubling of pressure sensor is evenly arranged on carrier bar 4 and the contact surface of human contact, tension sensor 35
It is several, and be evenly arranged on elastic reset band 5, carrier bar 4 totally two, and its both ends passes through the adjusting of two regulating mechanisms 3 respectively
Hole 38 is connect with the driving motor 32 in carrying shell 31, two carrier bars 4 one of them in another each surface, two carrier bars
It is in 0 ° -180 ° angles between 4, and is connected between two carrier bars 4 by least two elastic reset bands 5, carrier bar 4 passes through respectively
Two driving motors 32 that adjustment hole 38 and regulating mechanism 3 carry in shell 31 are connect, control device 2 respectively with driving motor 32,
Angular transducer 33, pressure sensor 34, tension sensor 35 and speed probe 36 are electrically connected.
In the present embodiment, the elastomeric overmold substrate 101 and 4 cross section of carrier bar are rectangle, in circle, ellipse
Any one.
In the present embodiment, uniformly distributed several air holes 9 on the elastomeric overmold substrate 101.
In the present embodiment, the carrier bar 4 includes hard substrate 41 and elastic insert 42, and the elastic insert 42 wraps
It overlays on outside hard substrate 41.
In the present embodiment, elastic sealing strip 10 is set at the adjustment hole 38.
The present invention in actual use, by the present invention and is worn on human body, and make lumbar operation by positioning belt
Position is located at position between two carrier bars, when human motion, wherein underlying carrier bar is under driving motor effect
Positioning support power is provided, the carrier bar being located above is provided with human motion under driving motor effect, provided for human motion
Auxiliary driving force avoids human body stress excessive, while elastic reset band is that human body motion range is defined, and avoids human motion
It measures excessive.
The configuration of the present invention is simple, it is flexible and convenient to use, on the one hand there is good bearing capacity and stationkeeping ability, another party
Face has effective security protection ability, so as to can separately mention to waist activity while meeting human body waist flexible motion
It is limited for auxiliary driving force and motion range, mitigates waist stress intensity to reach, improves waist flexibility and avoid waist
Excessive movement and cause aggravation phenomenon occur.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments.Above-described embodiment and explanation
It is merely illustrated the principles of the invention described in book.Without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of Post lumbar surgery rehabilitation auxiliary robot, it is characterised in that: the Post lumbar surgery rehabilitation auxiliary robot includes
Positioning belt, control device, regulating mechanism, carrier bar and elastic reset band, the positioning belt are positioned by least one
Button constitutes closed hoop structure, and the positioning belt includes elastomeric overmold substrate, resilient metal strip and locating button, the bullet
Property metal strip at least two, and the distribution that is parallel to each other, each resilient metal strip is embedded in elastomeric overmold substrate and and elastomeric overmold
Substrate axis parallelly distribute on, the elastomeric overmold substrate are banded structure, the locating button at least two, and be mounted on bullet
Property cladding substrate outside, the elastomeric overmold substrate constitutes closed hoop structure by locating button, and the positioning belt is circular
Patient's waist installation, the control device are mounted on positioning belt outer surface by sliding block and are slidably connected with positioning belt,
It the regulating mechanism totally two, is mounted on positioning belt by sliding block respectively and a human body left side is symmetrically distributed in human body middle line
Right two sides, the regulating mechanism include carrying shell, driving motor, angular transducer, pressure sensor, tension sensor and turn
Fast sensor, the carrying shell is cross section airtight cavity in rectangular configuration, and the carrying shell and sliding block are hinged, described
Sliding block on set guide groove, sliding block is coated on outside positioning belt by guide groove, and the driving motor at least two simultaneously passes through
In locating rack installation carrying shell, the driving motor axis and human body axis vertical distribution are simultaneously distributed in the same plane, and
Two driving motor axis spacing are 5-50 centimetres, set adjustment hole on carrying side surfaces corresponding to the driving motor, institute
The adjustment hole stated coaxially is distributed with carrying shell, and adjusting hole length not is carry side surfaces perimeter 1/4-3/4, the angle
Degree sensor and speed probe are installed on each driving motor main shaft, if the pressure sensor dry doubling is evenly arranged on carrying
On bar and the contact surface of human contact, the tension sensor is several, and is evenly arranged on elastic reset band, the carrier bar
Totally two, and its both ends passes through the adjustment holes of two regulating mechanisms respectively and connect with the driving motor in carrying shell, described two
One of them is in 0 ° -180 ° angles between another each surface, two carrier bars for carrier bar, and is passed through between two carrier bars
At least two elastic reset band connections, the carrier bar pass through two drivings in adjustment hole and regulating mechanism carrying shell respectively
Motor connection, the control device respectively with driving motor, angular transducer, pressure sensor, tension sensor and revolving speed
Sensor electrical connection.
2. a kind of Post lumbar surgery rehabilitation auxiliary robot according to claim 1, it is characterised in that: the elastomeric overmold
Substrate and carrier bar cross section are rectangle, circle, any one in ellipse.
3. a kind of Post lumbar surgery rehabilitation auxiliary robot according to claim 1, it is characterised in that: the elastomeric overmold
Uniformly distributed several air holes on substrate.
4. a kind of Post lumbar surgery rehabilitation auxiliary robot according to claim 1, it is characterised in that: the carrier bar packet
Hard substrate and elastic insert are included, the elastic insert is coated on outside hard substrate.
5. a kind of Post lumbar surgery rehabilitation auxiliary robot according to claim 1, it is characterised in that: at the adjustment hole
If elastic sealing strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138299.2A CN106726331B (en) | 2016-12-12 | 2016-12-12 | A kind of Post lumbar surgery rehabilitation auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138299.2A CN106726331B (en) | 2016-12-12 | 2016-12-12 | A kind of Post lumbar surgery rehabilitation auxiliary robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106726331A CN106726331A (en) | 2017-05-31 |
| CN106726331B true CN106726331B (en) | 2019-05-10 |
Family
ID=58875531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611138299.2A Active CN106726331B (en) | 2016-12-12 | 2016-12-12 | A kind of Post lumbar surgery rehabilitation auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106726331B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2464280Y (en) * | 2001-02-20 | 2001-12-12 | 田立家 | Lumber vertebrae tractor |
| CN2635051Y (en) * | 2003-05-12 | 2004-08-25 | 汤升林 | Portable self controlled lumbar drawing apparatus |
| CN201861807U (en) * | 2010-11-19 | 2011-06-15 | 浙江省新华医院 | Portable lumbar vertebra traction shape corrector |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8603016B2 (en) * | 2010-01-11 | 2013-12-10 | Honda Motor Co., Ltd. | Walking assistance device |
-
2016
- 2016-12-12 CN CN201611138299.2A patent/CN106726331B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2464280Y (en) * | 2001-02-20 | 2001-12-12 | 田立家 | Lumber vertebrae tractor |
| CN2635051Y (en) * | 2003-05-12 | 2004-08-25 | 汤升林 | Portable self controlled lumbar drawing apparatus |
| CN201861807U (en) * | 2010-11-19 | 2011-06-15 | 浙江省新华医院 | Portable lumbar vertebra traction shape corrector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106726331A (en) | 2017-05-31 |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cao Xianmin Inventor after: Wang Meihua Inventor before: Wang Meihua |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190416 Address after: 252300 Maternal and Child Health Hospital of Shouyanggu County, West Zhaowanghe Road, Liaocheng City, Shandong Province Applicant after: Cao Xianmin Address before: 610041 No. 1, 8 floor, No. 1, Tianfu Avenue, 1388 middle and high tech Zone, Chengdu, Sichuan. Applicant before: CHENGDU YUYA SCIENCE & TECHNOLOGY CO., LTD. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200109 Address after: 250000 Shandong high tech Zone in Ji'nan City, Han Yu Valley A2-4-2003-6 Patentee after: Shandong Jingu Information Technology Co., Ltd Address before: 252300 Shandong city of Liaocheng province Yanggu County Zhao Road, Yanggu County Maternal and Child Health Hospital Patentee before: Cao Xianmin |
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| TR01 | Transfer of patent right |