CN108113846B - Intelligent jaw support motion track and driving parameter design instrument thereof - Google Patents
Intelligent jaw support motion track and driving parameter design instrument thereof Download PDFInfo
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- CN108113846B CN108113846B CN201711264681.2A CN201711264681A CN108113846B CN 108113846 B CN108113846 B CN 108113846B CN 201711264681 A CN201711264681 A CN 201711264681A CN 108113846 B CN108113846 B CN 108113846B
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- lifting rod
- displacement sensor
- translation
- platform
- rotating
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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
-
- 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
-
- 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
- A61H2205/04—Devices for specific parts of the body neck
Abstract
The invention discloses an intelligent jaw support motion trail and a driving parameter design instrument thereof, which comprises a lifting rod mechanism, a rotating table, a front and back translation table, a left and right translation table, a base, a data acquisition circuit board and a computer, wherein the lifting rod mechanism is connected with the rotating table through a connecting rod; the computer is connected with the data acquisition circuit board through a standard data interface, the lifting rod mechanism comprises a left lifting rod, a front lifting rod and a right lifting rod, the left lifting rod, the front lifting rod and the right lifting rod can independently lift and slide and are arranged on a rotating table, the rotating table is rotatably arranged on a front translation table and a rear translation table, the front translation table and the rear translation table are in sliding connection with a left translation table and a right translation table, the left translation table and the right translation table are in sliding connection with the base, and the lifting rod mechanism also comprises an elastic hood; the jaw of the patient is arranged on the top end of the lifting rod and the head cover is worn, the therapeutic action of the massage doctor drives the moving parts, the rotating angles or the slippage of all the moving parts are measured by the sensors and transmitted to the data acquisition circuit board and the computer, and the jaw support moving track of the health care instrument and the basic parameters of the driving part are formed.
Description
The invention relates to the field of health care instruments, in particular to an electromechanical integrated intelligent jaw support motion track and driving parameter design instrument thereof and a multifunctional cervical vertebra intelligent health care instrument.
Background
The long-time continuous desk-bending work can easily cause cervical vertebra strain diseases, and the daily working mode, posture, self-massage health care or professional medical treatment should be improved. Therefore, the inventor invents the multifunctional cervical vertebra intelligent health care instrument. The jaw support of the multifunctional cervical vertebra intelligent health care instrument can perform 6-degree-of-freedom spatial motion, various motion tracks and postures can be realized, the multifunctional cervical vertebra intelligent health care instrument is realized by five translations along the direction of three coordinate axes and one rotation around the coordinate axes, although the mechanism is reliable and simple, the calculation of track design is complex, and the total calculation amount is large. The traditional mechanism space motion design method is designed manually by comprehensively utilizing space geometric operation and mechanical drawing technologies, so that the calculation of the jaw support space motion track is complicated, the design period is long, and due to the limitation of the calculation capacity, the track control points are few, and the design result is inevitably different from the massage manipulation of medical experts. In general, neither the efficiency nor the effectiveness of the design is ideal.
Disclosure of Invention
The invention aims to invent a set of intelligent jaw support space motion trail and corresponding motion parameter design instrument of a driving piece thereof based on the requirements of development and design of a multifunctional cervical vertebra intelligent health care instrument, and comprehensively meets the following three requirements: 1, directly obtaining the space motion track and speed change of the jaw support and the displacement parameters of each driving piece in the health care instrument, and greatly improving the design efficiency; 2, performing action simulation of a massage medical expert, and simulating expert skills at high precision; and 3, editing a plurality of action fragments of the jaw support by using a computer technology, combining the functions of other modes of the health care instrument to form a plurality of sets of expert medical scheme libraries, and storing the expert medical scheme libraries in the smart phone of the health care instrument for the user to select.
In order to achieve the above purpose, the general scheme of the invention patent is as follows:
the invention relates to an intelligent jaw support motion trail and driving parameter design instrument thereof, which comprises a lifting rod mechanism, a rotating table, a front and back translation table, a left and right translation table, a base, a data acquisition circuit board and a computer, wherein the lifting rod mechanism is connected with the rotating table through a connecting rod; the lifting rod mechanism is installed on the rotating platform, the rotating platform is rotatably installed on the front and rear translation platforms, the front and rear translation platforms are in sliding connection with the left and right translation platforms, and the left and right translation platforms are in sliding connection with the base.
The lifting rod mechanism comprises a hood, a left lifting rod, a front lifting rod and a right lifting rod; the head cover is made of elastic latticed braided fabric and is provided with three pairs (six) of elastic binding belts, wherein a left pair of binding belts are fixed at the top end of the left lifting rod, a middle pair of binding belts are fixed at the top end of the front lifting rod, and a right pair of binding belts are fixed at the top end of the right lifting rod; the left lifting rod, the front lifting rod and the right lifting rod can independently lift along the Z direction, and a butterfly-shaped jaw pad made of rubber is mounted at the top end of each lifting rod.
The rotating platform comprises a left lifting rod displacement sensor, a front lifting rod displacement sensor, a right lifting rod displacement sensor and a rotating base; the left lifting rod, the front lifting rod and the right lifting rod are all connected on the rotating seat in a sliding manner; left lifter displacement sensor, preceding lifter displacement sensor, right lifter displacement sensor all fixed mounting on the roating seat and respectively with left lifter, preceding lifter, right lifter relative, left lifter displacement sensor measures the displacement of left lifter, preceding lifter displacement sensor measures the displacement of preceding lifter, right lifter displacement sensor measures the displacement of right lifter.
The front and rear translation stages comprise a rotation angle sensor of the rotation stage and front and rear stage seats; the rotating seat of the rotating platform is rotatably arranged on the front platform seat and the rear platform seat and can rotate around the Z axis; the rotating platform corner sensor is fixedly arranged on the front platform base and the rear platform base and is opposite to the rotating base of the rotating platform, and the corner of the rotating platform is measured.
The left and right translation stages comprise a front and rear translation stage displacement sensor and left and right platform seats; the front and rear platform seats of the front and rear translation tables are connected to the left and right platform seats in a sliding manner and can translate left and right along the Y direction; the front and back translation stage displacement sensor is fixedly arranged on the left and right platform seats and is opposite to the front and back platform seats of the front and back translation stages, and displacement of the front and back translation stages is measured.
The base comprises a left translation table displacement sensor, a right translation table displacement sensor and a base frame; the left and right platform seats of the left and right translation tables are connected on the base frame in a sliding manner and can translate left and right along the X direction; and the left and right translation stage displacement sensor is fixedly arranged on the base frame and is opposite to the left and right platform seats of the left and right translation stages, so that the displacement of the left and right translation stages is measured.
The data acquisition circuit board receives displacement or corner data acquired by the front lifting rod displacement sensor, the left lifting rod displacement sensor, the right lifting rod displacement sensor, the rotating table corner sensor, the front and back translation table displacement sensor and the left and right translation table displacement sensor and sends the displacement or corner data to the computer through a standard data interface.
By adopting the scheme, the invention innovatively provides an instrument and a method for designing the jaw support motion track and the driving piece motion parameter, and has the advantages that:
1, because the front lifting rod displacement sensor, the left lifting rod displacement sensor, the right lifting rod displacement sensor, the front and back translation stage displacement sensor and the left and right translation stage displacement sensor are respectively opposite to the front lifting rod, the left lifting rod, the right lifting rod, the front and back translation stage and the left and right translation stage, the data acquisition circuit board is connected with the front lifting rod displacement sensor, the left lifting rod displacement sensor, the right lifting rod displacement sensor, the front and back translation stage displacement sensor, the left and right translation stage displacement sensor and the rotation stage rotation angle sensor through a feeder line and receives the data such as the displacement quantity acquired by the front lifting rod displacement sensor, the left lifting rod displacement sensor, the right lifting rod displacement sensor, the front and back translation stage displacement sensor and the left and right translation stage displacement sensor, the rotation angle quantity of the rotation stage rotation angle sensor, and the like, the data acquisition circuit board transmits the data to the computer through a standard data interface, the workload of jaw support track design calculation is greatly reduced, the jaw support track design and the motion design of other driving parts are carried out simultaneously, and the efficiency is high.
2, the method accurately adopts the technique of medical experts, the design result is highly consistent with the ideal massage technique of the medical experts, and the data acquisition process is automated.
And 3, the sampling period can be adjusted, and the contradiction between the simulation precision of the mechanism and the response speed and data storage capacity of the system is easily handled.
4, the data acquired by the data acquisition card is received and stored by a computer, so that the data acquisition card is convenient to edit, combine and optimize; therefore, the user operation control system for developing the multifunctional cervical vertebra intelligent health care instrument can also form a professional treatment scheme library with better performance by combining with other health care mode functions of the health care instrument for users to select.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a diagram of the transmission system of the present invention;
fig. 3 is a wiring diagram of the data acquisition circuit board of the present invention.
Detailed description of the invention
1, structure of intelligent jaw support motion track and driving parameter design instrument thereof
As shown in fig. 1 and 2, the invention relates to an intelligent jaw support motion trail and driving parameter design instrument thereof, which comprises a lifting rod mechanism 1, a rotating platform 2, a front and back translation platform 3, a left and right translation platform 4, a base 5, a data acquisition circuit board 6 and a computer 7; the lifting rod mechanism 1 is installed on the rotating platform 2, the rotating platform 2 is rotatably installed on the front and rear translation platforms 3, the front and rear translation platforms 3 are in sliding connection with the left and right translation platforms 4, and the left and right translation platforms 4 are in sliding connection with the base 5.
The lifting rod mechanism 1 comprises a head cover 11, a left lifting rod 12, a front lifting rod 13 and a right lifting rod 14; the head cover 11 is made of elastic latticed braided fabric and is provided with three pairs (six) of elastic binding belts, wherein a left pair of binding belts are fixed at the top end of a left lifting rod 12, a middle pair of binding belts are fixed at the top end of a front lifting rod 13, and a right pair of binding belts are fixed at the top end of a right lifting rod 14; the left lifting rod 12, the front lifting rod 13 and the right lifting rod 14 can independently lift along the Z direction, a butterfly-shaped jaw pad 15 made of rubber is installed at the top end of the left lifting rod 12, a butterfly-shaped jaw pad 16 made of rubber is installed at the top end of the front lifting rod 13, and a butterfly-shaped jaw pad 17 made of rubber is installed at the top end of the right lifting rod 14.
The rotating platform 2 comprises a front lifting rod displacement sensor 22, a left lifting rod displacement sensor 21, a right lifting rod displacement sensor 23 and a rotating base 24; the left lifting rod 12, the front lifting rod 13 and the right lifting rod 14 are all connected on the rotating base 24 in a sliding manner; the front lifting rod displacement sensor 22, the left lifting rod displacement sensor 21 and the right lifting rod displacement sensor 23 are fixedly mounted on the rotating base 24 and are respectively opposite to the front lifting rod 13, the left lifting rod 12 and the right lifting rod 14, the front lifting rod displacement sensor 22 measures the displacement of the front lifting rod 13, the left lifting rod displacement sensor 21 measures the displacement of the left lifting rod 12, and the right lifting rod displacement sensor 23 measures the displacement of the right lifting rod 14.
The front and rear translation stage 3 comprises a rotary table corner sensor 31 and a front and rear stage base 32; the rotary seat 24 of the rotary table 2 is rotatably arranged on the front and rear platform seats 32 and can rotate around the Z axis; the turntable rotation angle sensor 31 is fixedly installed on the front and rear deck mounts 32 and is opposite to the rotary mount 24 of the turntable 2, and measures the rotation angle of the turntable 2.
The left and right translation stages 4 comprise a front and rear translation stage displacement sensor 41 and a left and right stage base 42; the front and rear platform seats 32 of the front and rear translation platform 3 are slidably connected to the left and right platform seats 42 and can translate left and right along the Y direction; the front and rear translation stage displacement sensor 41 is fixedly mounted on the left and right platform seats 42 and is opposite to the front and rear platform seats 32 of the front and rear translation stage 3, and measures the displacement of the front and rear translation stage 3.
The base 5 comprises a left-right translation table displacement sensor 51 and a base frame 52; the left and right platform seats 42 of the left and right translation tables 4 are connected on the base frame 52 in a sliding way and can translate left and right along the X direction; the left and right translation stage displacement sensor 51 is fixedly installed on the base frame 52 and is opposite to the left and right stage seats 42 of the left and right translation stages 4, and measures the displacement of the left and right translation stages 4.
As shown in fig. 3, the data acquisition circuit board 6 is connected to the front lifter displacement sensor 22, the left lifter displacement sensor 21, the right lifter displacement sensor 23, the front and rear translation stage displacement sensor 41, the left and right translation stage displacement sensor 51, and the rotation stage rotation angle sensor 31 through a feeder line, and receives the translation or rotation angle data acquired by the front lifter displacement sensor 22, the left lifter displacement sensor 21, the right lifter displacement sensor 23, the front and rear translation stage displacement sensor 41, the left and right translation stage displacement sensor 51, and the rotation stage rotation angle sensor 31, and the data acquisition circuit board 6 transmits the data to the computer 7 through a standard data interface.
The computer 7 receives the displacement or corner data acquired by the data acquisition circuit board 6 to form a jaw support motion track; then editing and processing are carried out, and the driving parameters of each driving motor in the health care instrument are calculated according to the driving parameters, so that a plurality of sets of massage health care schemes which can be directly used by the health care instrument are formed, and finally the massage health care schemes are input into an intelligent mobile phone of the health care instrument for users to use.
2, working method of intelligent jaw support motion track and driving parameter design instrument thereof
In order to simulate the case of a massage medical specialist for treating a cervical vertebra patient, an intelligent jaw support motion track and driving parameter design instrument thereof can be used for acquiring the data of a jaw support motion track template: the chin of a patient is placed on the rubber pad at the top end of the front lifting rod 13, the left chin upper is placed on the rubber pad at the top end of the left lifting rod 12, the right chin upper is placed on the rubber pad at the top end of the right lifting rod 14, the hood 1 is worn on the top of the head of the patient, and the binding belt of the hood 1 and the tops of the three lifting rods are stably bound and mutually related.
Then, the massage medical specialist starts to demonstrate the case of treating the cervical vertebra patient, and the head and the neck of the patient move with 6 degrees of freedom under the massage action of the massage medical specialist. The head movement track is transmitted to the intelligent jaw support movement track and driving parameter designing instrument through the head cover and the binding belt thereof, the rubber pad 16 at the top end of the front lifting rod 13, the rubber pad 15 at the top end of the left lifting rod 12 and the rubber pad 17 at the top end of the right lifting rod 14, the left lifting rod 12, the front lifting rod 13, the right lifting rod 14, the rotating platform 2, the front and back translation platform 3, the left and right translation platform 4 and other moving parts are driven, the rotation angles or slippage of all the moving parts are measured by the sensors and transmitted to the data acquisition circuit board 6 and the computer 7, and the jaw support movement track of the health care instrument and the driving part basic parameters are formed.
As shown in fig. 3, in the process of demonstrating and treating the cervical vertebra patient by the massage medical specialist, the left lifting rod displacement sensor 21, the front lifting rod displacement sensor 22, the right lifting rod displacement sensor 23, the rotating table corner sensor 31, the front and rear translation table displacement sensor 41, and the left and right translation table displacement sensor 51 transmit the acquired displacement or corner data to the data acquisition circuit board 6; taking 0.5 second as a data sampling period, forming a relative displacement-time table: the positions of the patient's chin and the left and right cheeks-the time data table reflects the trajectory and swing posture of the patient's head and neck movements; the displacement of the left and right translation tables 4, namely the time data sheet reflects the relative displacement requirement of the left and right driving pieces (namely the first stepping motor nut) of the health care instrument; the displacement of the front and rear translation stages 3, namely the time data table reflects the relative displacement requirement of the driving piece (namely the second stepping motor nut) in the front and rear directions of the health care instrument; the corner-time data table of the rotating platform 2 reflects the relative corner requirement of a driving piece (namely a third stepping motor) which rotates in the Z-axis direction of the health care instrument; the displacement of the left lifting rod 12-the time data sheet reflects the relative displacement requirement of the left lifting driving piece (namely the screw rod of the left stepping motor) of the health care instrument; the displacement of the front lifting rod 13, namely the time data table reflects the relative displacement requirement of a front lifting driving piece (namely a front stepping motor screw rod) of the health care instrument; displacement of the right lifter 14 — the time data sheet reflects the relative displacement requirement of the right lifting drive (i.e., the right stepper motor lead screw) of the health care instrument; the massage expert demonstrates various schemes, and a head and neck massage expert scheme database can be constructed for the health care instrument by collecting the displacement-time schedule and the corner-time schedule, and is stored in an intelligent mobile phone APP of the health care instrument for the common user to use in a head and neck swinging relaxation mode of the health care instrument.
In conclusion, the instrument for designing the jaw support motion track and the driving part motion parameters directly adopts the method of a massage medical specialist to design the jaw support track of the health care instrument and the motion design of other driving parts, thereby greatly reducing the workload of design and calculation and improving the high efficiency.
The key points of the invention are as follows: the technical point which should be protected by the patent is the overall design scheme of the system, namely: the motion of an expert is simulated accurately, the jaw support track design and the motion design of other driving parts are carried out simultaneously, the functions of other health care modes of the health care instrument can be combined in the subsequent processing of the computer, the efficiency is high, the development is convenient, and the intelligence is realized.
For those skilled in the art, the invention can be modified in the specific embodiments and applications according to the patent idea, and in summary, the disclosure of the present invention should not be construed as limiting the patent.
Claims (1)
1. The utility model provides an intelligent jaw holds in palm movement track and drive parameter design appearance which characterized in that: the device comprises a lifting rod mechanism, a rotating table, a front and back translation table, a left and right translation table, a base, a data acquisition circuit board and a computer; the lifting rod mechanism is arranged on the rotating table, the rotating table is rotatably arranged on the front and rear translation tables, the front and rear translation tables are in sliding connection with the left and right translation tables, and the left and right translation tables are in sliding connection with the base; the lifting rod mechanism comprises a hood, a left lifting rod, a front lifting rod and a right lifting rod; the head cover is provided with three pairs of elastic binding belts, wherein a left pair of binding belts are fixed at the top end of the left lifting rod, a middle pair of binding belts are fixed at the top end of the front lifting rod, and a right pair of binding belts are fixed at the top end of the right lifting rod; the left lifting rod, the front lifting rod and the right lifting rod can independently lift along the Z direction respectively, and a butterfly-shaped jaw pad made of rubber is mounted at the top end of each lifting rod; the left lifting rod, the front lifting rod and the right lifting rod are all connected on the rotating seat in a sliding manner; the left lifting rod displacement sensor, the front lifting rod displacement sensor and the right lifting rod displacement sensor are fixedly arranged on the rotating seat and are respectively opposite to the left lifting rod, the front lifting rod and the right lifting rod;
the front and rear translation stages comprise a rotation angle sensor of the rotation stage and front and rear stage seats; the rotating seat of the rotating platform is rotatably arranged on the front platform seat and the rear platform seat and can rotate around the Z axis; the rotating table corner sensor is fixedly arranged on the front platform seat and the rear platform seat and is opposite to the rotating seat of the rotating table to measure the corner of the rotating table;
the left and right translation stages comprise a front and rear translation stage displacement sensor and left and right platform seats; the front and rear platform seats of the front and rear translation platforms are connected on the left and right platform seats in a sliding manner and can translate left and right along the Y direction; the front and rear translation stage displacement sensor is fixedly arranged on the left and right platform seats and is opposite to the front and rear platform seats of the front and rear translation stages, and is used for measuring the displacement of the front and rear translation stages;
the base comprises a left translation table displacement sensor, a right translation table displacement sensor and a base frame; the left and right platform seats of the left and right translation tables are connected on the base frame in a sliding manner and can translate left and right along the X direction; the left and right translation stage displacement sensor is fixedly arranged on the base frame and is opposite to the left and right platform seats of the left and right translation stages to measure the displacement of the left and right translation stages;
the data acquisition circuit board is arranged on the base, and the computer is connected with the data acquisition circuit board through a standard data interface;
the data acquisition circuit board is connected with the front lifting rod displacement sensor, the left lifting rod displacement sensor, the right lifting rod displacement sensor, the front and back translation stage displacement sensor, the left and right translation stage displacement sensor and the rotary table corner sensor through a feeder line and receives the displacement of the front lifting rod displacement sensor, the left lifting rod displacement sensor, the right lifting rod displacement sensor, the front and back translation stage displacement sensor, the displacement acquired by the left and right translation stage displacement sensor and the corner data of the rotary table corner sensor, and the data acquisition circuit board sends the data to the computer through a standard data interface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264681.2A CN108113846B (en) | 2017-12-05 | 2017-12-05 | Intelligent jaw support motion track and driving parameter design instrument thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711264681.2A CN108113846B (en) | 2017-12-05 | 2017-12-05 | Intelligent jaw support motion track and driving parameter design instrument thereof |
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| Publication Number | Publication Date |
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| CN108113846A CN108113846A (en) | 2018-06-05 |
| CN108113846B true CN108113846B (en) | 2020-02-21 |
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| CN201711264681.2A Expired - Fee Related CN108113846B (en) | 2017-12-05 | 2017-12-05 | Intelligent jaw support motion track and driving parameter design instrument thereof |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109157399A (en) * | 2018-06-25 | 2019-01-08 | 朱森标 | The robot of imitative Chinese traditional massage |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2163625Y (en) * | 1993-06-12 | 1994-05-04 | 刘新河 | Multi-functional cervical reduction orthopaedic device |
| CN104983544A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable cervical vertebra rehabilitation medical robot |
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2017
- 2017-12-05 CN CN201711264681.2A patent/CN108113846B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2163625Y (en) * | 1993-06-12 | 1994-05-04 | 刘新河 | Multi-functional cervical reduction orthopaedic device |
| CN104983544A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable cervical vertebra rehabilitation medical robot |
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