CN107440885A - Lower jaw is opened and closed mouth healing robot - Google Patents
Lower jaw is opened and closed mouth healing robot Download PDFInfo
- Publication number
- CN107440885A CN107440885A CN201710813713.3A CN201710813713A CN107440885A CN 107440885 A CN107440885 A CN 107440885A CN 201710813713 A CN201710813713 A CN 201710813713A CN 107440885 A CN107440885 A CN 107440885A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- spring
- lower jaw
- fixing device
- leading screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1604—Head
- A61H2201/1607—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/02—Head
- A61H2205/026—Mandible
Abstract
The present invention discloses a kind of lower jaw opening and closing mouth healing robot, is applicable to carry out the temporomandibular joint disturbance syndrome patient of lower jaw opening and closing mouth direction rehabilitation training.Its structure is mainly made up of two servomotors, two decelerators, two pairs of feed screw nuts, connecting rod one, connecting rod two, spring one, spring two, lower jaw connector, ramus of mandible support member, denture fixing device, denture fixing device connector, spring mountings and frame, and the decelerator is fixedly connected with leading screw；The leading screw coordinates with nut and coupled；Described two nuts couple with connecting rod one and connecting rod two hinge respectively；Described two connecting rod link connections；The spring one is fixedly connected with lower jaw connector and ramus of mandible support member respectively；The spring two is fixedly connected with spring mountings and denture fixing device connector respectively；Denture fixing device and the denture fixing device connector is fixedly connected.The present apparatus is compact-sized, and easy to operate, safe, cost is cheap, the rehabilitation training that can be used in hospital or family.
Description
Technical field
The invention belongs to medical instruments field, is related under a kind of patient especially suitable for temporomandibular joint disturbance syndrome
Jaw is opened and closed mouth healing robot.
Background technology
Remporomandibular joint（TMJ）It is one of the most used joint of the mankind, it is human body is the most complicated, fine one
Important connecting joint, it not only has extremely complex geometric shape, but also is that lower Maxillary region uniquely doubles as sliding and revolving
The diarthrosis of dynamic motion.Temporomandibular joint disturbance syndrome（TMD）It is a kind of common remporomandibular joint dyskinesia, this disease
With swelling and pain sense when disease main clinical manifestation is joint motions, especially to chew and dehisce when obvious, limitation of mouth opening and dehisce
When lower jaw deflection motions obstacle etc., some patientss are with headache, ear's symptom, or even neck and shoulder ache.The accessible motion of lower jaw is
The mankind are shredded to food, ground, swallowed, and the motive power digested and assimilated, while still the mankind carry out common discourse, drinking-water
Deng the premise being smoothed out of action.The early recovery of the disease helps the life of patient that the change of matter occurs.Traditional rehabilitation
Training for treatment is the Couple herbs that therapist is accumulated according to the pathogenic factor of patient and the specific state of an illness of patient in conjunction with oneself
A treatment plan is made, then carries out the rehabilitation of repeatability to the lower jaw of patient in accordance with rehabilitation requirement.Traditional controls
Treatment mode is all that one kind greatly tests to the muscle power and endurance of therapist, and due to being one between rehabilitation therapist and patient
It is subjective to one rehabilitation training pattern, therefore the method for this rehabilitation is extremely inefficient.As can be seen here, it is a to have
Security, validity can ensure simultaneously fluency during Rehabilitation, comfortableness lower jaw healing robot research
It is particularly urgent.Lower jaw is related to the motion of front and rear three opening and closing mouth, left and right directions, and the rehabilitation training effect of patient depends primarily on
It is opened and closed the rehabilitation in mouth direction.At present, the mechanism size for the healing robot developed for temporomandibular joint disturbance syndrome is non-
Chang great, involve great expense, be only applicable to hospitalize, general average family economy load can not afford, exist so being not suitable for patient
Rehabilitation training is carried out in family.
The content of the invention
The present invention is analyzing the basis of the various problems run into during the training of temporomandibular joint disturbance syndrome patients ' recovery
On, it have studied a lower jaw rehabilitation machine simple in construction, cheap, that patient's completion lower jaw opening and closing mouth motion can be aided in
People.
Technical scheme is used by above-mentioned purpose is realized：A kind of lower jaw opening and closing mouth healing robot, including drive part,
Running part, executable portion, wherein the drive part uses servomotor one and servomotor two；Running part is by decelerator
First, leading screw one, nut one, connecting rod one, connecting rod two, nut two, leading screw two, decelerator two form；The executable portion is by spring
Fixture, spring two, denture fixing device connector, denture fixing device, ramus of mandible support member, spring one, lower jaw connector composition, the decelerator one with
Leading screw one is fixedly connected；The leading screw one coordinates with nut one and coupled；The nut one and the hinge-coupled of connecting rod one；The connecting rod
One couples with connecting rod two hinge；The connecting rod two couples with nut two hinge；The nut two coordinates with leading screw two and coupled；It is described
Leading screw two is fixedly connected with decelerator two；The spring mountings are fixedly connected with spring two, connecting rod two respectively；The denture fixing device connects
Fitting is fixedly connected with denture fixing device, spring two respectively；The ramus of mandible support member is fixedly connected with spring one；The spring one and lower jaw
Connector is fixedly connected；The lower jaw connector is fixedly connected with connecting rod two.
The servomotor one drives leading screw one to rotate by decelerator one, and the rotation of the leading screw one is driven on nut one
Lower movement, the motion of nut one pass motion to connecting rod two by connecting rod one；Meanwhile the servomotor two-way crosses decelerator
Two driving leading screws two rotate, and the rotation of the leading screw two drives nut two for linear motion, the drivening rod 21 of nut two
Play motion；The denture fixing device, denture fixing device connector, spring two, spring mountings are all fixed to one another, and are finally fixed on connecting rod two,
By changing the input of two servomotors, denture fixing device can form lower jaw shredding stage movement locus A and lower jaw grinding stage respectively
Movement locus B, the lower jaw of people move with denture fixing device, that is, realize that patient's lower jaw is instructed in the rehabilitation that sagittal plane is moved along track A or B
Practice.
The beneficial effects of the invention are as follows：Invention emulates the motion in mankind's lower jaw opening and closing mouth direction, patient can basis
The actual conditions of itself, two kinds of different lower jaw rehabilitation tracks of selection chopping and grinding, for realizing that lower jaw shreds motion stage
With the rehabilitation training of two kinds of different tracks of grinding motion stage.The present apparatus is compact-sized, easy to operate, rehabilitation course is safe,
Cost is low, can substitute the one-to-one cumbersome rehabilitation therapy method of rehabilitation therapist, the rehabilitation suitable for hospital and family
Training.
Brief description of the drawings
Fig. 1 overall structure diagrams of the present invention；
In figure：1- servomotors one；2- decelerators one；3- frames；4- leading screws one；5- nuts one；6- connecting rods one；7- servos electricity
Machine two；8- decelerators two；9- leading screws two；10- nuts two；11- connecting rods two；12- lower jaw connectors；13- springs one；14- lower jaws
Support member；15- denture fixing devices；16- denture fixing device connectors；17- springs two；18- spring mountings；A- lower jaw shredding stage movement locus；
B- lower jaws grinding course movement track.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Embodiment 1：Referring to accompanying drawing, lower jaw of the invention opening and closing mouth healing robot, including drive part, running part,
Executable portion.Its structure is by two 2 and 8, two pairs of decelerator feed screw nuts 4 and 5 and 9 of servomotor 1 and 7, two and 10, two
Connecting rod 6 and 11, two springs 13 and 17, spring mountings 18, denture fixing device connector 16, denture fixing device 15, lower jaw connector 12, ramuss of mandible
Support member 14, frame 3 form.Decelerator 1, one end connection servomotor 1, one end connection leading screw 1；Decelerator 28, one end
Couple servomotor 27, one end connection leading screw 29；Nut 1 and nut 2 10 coordinate with leading screw 1 and leading screw 29 respectively to be joined
Connect, while and respectively with connecting rod 1 and the hinge-coupled of connecting rod 2 11；It is also hinge-coupled between connecting rod 1 and connecting rod 2 11；Tooth
Support connector 16 is fixedly connected with denture fixing device 15；Spring mountings 18 and lower jaw connector 12 are fixedly connected with connecting rod 2 11 respectively；
Spring 2 17 is fixedly connected with denture fixing device connector 16 and spring mountings 18 respectively；Spring 1 respectively with lower jaw connector 12 and
Ramus of mandible support member 14 is fixedly connected, and is the flexible apparatus of lower jaw opening and closing mouth direction rehabilitation training.
The specific work process of the present invention：
Servomotor 1 drives leading screw 1 to rotate by decelerator 1, and the rotation of leading screw 1 drives nut 1 to move up and down
To realize and rotation motion is in line motion, the drivening rod 1 of nut 1 moves, meanwhile, servomotor 27 passes through decelerator
28 driving leading screws 29 rotate, and leading screw 29 drives nut 2 10 that rotation motion is in line motion, the drivening rod of nut 2 10
2 11 motions, denture fixing device 15, denture fixing device connector 16, spring 2 17, spring mountings 18 are all fixed to one another, and are finally connected to connecting rod
On 2 11, by changing the input of two servomotors, denture fixing device 15 can form lower jaw shredding stage movement locus A and lower jaw respectively
Course movement track B is ground, the lower jaw of people moves with denture fixing device 15, that is, realizes that patient's lower jaw moves in sagittal plane along track A or B
Rehabilitation training.
Utilize the elasticity of spring 1 and spring 2 17, it is ensured that patient is in sagittal plane along track A or B motion process
The physiologically needs of front and rear light exercise, that is, realize the flexible support of lower jaw.
Claims (1)
1. a kind of lower jaw is opened and closed mouth healing robot, including drive part, running part, executable portion, it is characterised in that：It is described
Drive part uses servomotor one（1）With servomotor two（7）；The running part is by decelerator one（2）, leading screw one（4）、
Nut one（5）, connecting rod one（6）, connecting rod two（11）, nut two（10）, leading screw two（9）, decelerator two（8）Composition；The execution
Part is by spring mountings（18）, spring two（17）, denture fixing device connector（16）, denture fixing device（15）, ramus of mandible support member（14）, spring one
（13）, lower jaw connector（12）Composition, the decelerator one（2）With leading screw one（4）It is fixedly connected；The leading screw one（4）With spiral shell
Mother one（5）Coordinate connection；The nut one（5）With connecting rod one（6）Hinge-coupled；The connecting rod one（6）With connecting rod two（11）Hinge
Chain couples；The connecting rod two（11）With nut two（10）Hinge-coupled；The nut two（10）With leading screw two（9）Coordinate connection；
The leading screw two（9）With decelerator two（8）It is fixedly connected；The spring mountings（18）Respectively with spring two（17）, connecting rod two
（11）It is fixedly connected；The denture fixing device connector（16）Respectively with denture fixing device（15）, spring two（17）It is fixedly connected；The Mandibular supporting
Part（14）With spring one（13）It is fixedly connected；The spring one（13）With lower jaw connector（12）It is fixedly connected；The lower jaw connects
Fitting（12）With connecting rod two（11）It is fixedly connected；The servomotor one（1）Pass through decelerator one（2）Drive leading screw one（4）Turn
It is dynamic, the leading screw one（4）Rotation drive nut one（5）Move up and down, nut one（5）Motion pass through connecting rod one（6）Will fortune
It is dynamic to pass to connecting rod two（11）；Meanwhile the servomotor two（7）Pass through decelerator two（8）Drive leading screw two（9）Rotate, institute
State leading screw two（9）Rotation drive nut two（10）It is for linear motion, the nut two（10）Drivening rod two（11）One starts shipment
It is dynamic；The denture fixing device（15）, denture fixing device connector（16）, spring two（17）, spring mountings（18）All it is fixed to one another, and finally fixes
In connecting rod two（11）On, by changing the input of two servomotors, denture fixing device（15）The motion of lower jaw shredding stage can be formed respectively
Track A and lower jaw grinding course movement track B, the lower jaw of people is with denture fixing device（15）Motion, that is, realize patient's lower jaw in sagittal plane
The rehabilitation training moved along track A or B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710813713.3A CN107440885A (en) | 2017-09-11 | 2017-09-11 | Lower jaw is opened and closed mouth healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710813713.3A CN107440885A (en) | 2017-09-11 | 2017-09-11 | Lower jaw is opened and closed mouth healing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107440885A true CN107440885A (en) | 2017-12-08 |
Family
ID=60495750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710813713.3A Withdrawn CN107440885A (en) | 2017-09-11 | 2017-09-11 | Lower jaw is opened and closed mouth healing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107440885A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420674A (en) * | 2018-03-29 | 2018-08-21 | 华北理工大学 | Temporomandibular joint recovery training appliance for recovery |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2089140C1 (en) * | 1991-07-22 | 1997-09-10 | Анатолий Афанасьевич Михайлов | Apparatus for extension and fixation of spine |
| CN101637417A (en) * | 2009-08-24 | 2010-02-03 | 欧阳刚 | Prone type cervical correcting device |
| CN201684126U (en) * | 2010-05-19 | 2010-12-29 | 四川大学 | Integrated active mouth opener |
| CN105832498A (en) * | 2016-06-13 | 2016-08-10 | 华北理工大学 | Lower jaw rehabilitation robot |
| CN106361532A (en) * | 2016-09-22 | 2017-02-01 | 新乡医学院第附属医院 | Mouth opening training device and manufacturing method thereof |
| CN207785454U (en) * | 2017-09-11 | 2018-08-31 | 华北理工大学 | Lower jaw is opened and closed mouth healing robot |
-
2017
- 2017-09-11 CN CN201710813713.3A patent/CN107440885A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2089140C1 (en) * | 1991-07-22 | 1997-09-10 | Анатолий Афанасьевич Михайлов | Apparatus for extension and fixation of spine |
| CN101637417A (en) * | 2009-08-24 | 2010-02-03 | 欧阳刚 | Prone type cervical correcting device |
| CN201684126U (en) * | 2010-05-19 | 2010-12-29 | 四川大学 | Integrated active mouth opener |
| CN105832498A (en) * | 2016-06-13 | 2016-08-10 | 华北理工大学 | Lower jaw rehabilitation robot |
| CN106361532A (en) * | 2016-09-22 | 2017-02-01 | 新乡医学院第附属医院 | Mouth opening training device and manufacturing method thereof |
| CN207785454U (en) * | 2017-09-11 | 2018-08-31 | 华北理工大学 | Lower jaw is opened and closed mouth healing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420674A (en) * | 2018-03-29 | 2018-08-21 | 华北理工大学 | Temporomandibular joint recovery training appliance for recovery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103251493B (en) | Elbow wrist rehabilitation robot connected in series and parallel | |
| CN107224385B (en) | Active/passive both arms upper limb rehabilitation robot | |
| CN204468616U (en) | Three-freedom-degree hybrid formula Chinese massage robot | |
| CN104887456B (en) | A kind of wearing type upper limb recovery training device of Pneumatic artificial muscle driving | |
| CN109124985A (en) | Personalized upper-limbs rehabilitation training robot system based on path planning | |
| CN106214418A (en) | A kind of flexible wearable ectoskeleton drive lacking is all referring to training rehabilitation mechanical hand | |
| CN104606035A (en) | Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage | |
| CN105832498B (en) | Lower jaw healing robot | |
| CN106074092A (en) | A kind of novel exoskeleton finger healing robot and method of work thereof | |
| CN106239480A (en) | A kind of lower jaw based on Pneumatic artificial muscle chews robot | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN107019621A (en) | Upper limb rehabilitation robot | |
| CN204484679U (en) | A kind of sitting and lying formula recovery set for lower limbs | |
| CN104490566B (en) | Rehabilitation trainer for lower limbs | |
| CN203710320U (en) | Shoulder joint rehabilitation trainer | |
| CN101816603B (en) | Electrically powered wheelchair device with rehabilitation mechanical arm | |
| CN206151792U (en) | Novel knee joint rehabilitation trains ware | |
| CN108992857A (en) | A kind of healing and training elbow joint equipment of multi-angle regulation | |
| CN108721059A (en) | A kind of disc type MR damper lower limb rehabilitation robot | |
| CN104644377A (en) | Sitting and lying type lower limb rehabilitation device | |
| CN102908239B (en) | Robot for early-stage recovery of cerebral apoplexy | |
| CN206063381U (en) | A kind of ectoskeleton drive lacking is all referring to training rehabilitation device | |
| CN207785454U (en) | Lower jaw is opened and closed mouth healing robot | |
| CN101181175A (en) | Device for healing and training elbow joint | |
| CN107440885A (en) | Lower jaw is opened and closed mouth healing robot |
Legal Events
| 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171208 |
|
| WW01 | Invention patent application withdrawn after publication |