CN108464881B - Multifunctional rehabilitation robot for spine - Google Patents
Multifunctional rehabilitation robot for spine Download PDFInfo
- Publication number
- CN108464881B CN108464881B CN201810420534.8A CN201810420534A CN108464881B CN 108464881 B CN108464881 B CN 108464881B CN 201810420534 A CN201810420534 A CN 201810420534A CN 108464881 B CN108464881 B CN 108464881B
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- lower limb
- linear driving
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 41
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000007306 turnover Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
-
- 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
- A61H1/0222—Traction tables
-
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0028—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis disc-like, i.e. diameter substantially greater than width
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Nursing (AREA)
- Neurology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a multifunctional rehabilitation robot for stretching a spine in all directions by utilizing various movements of lower limbs, which comprises a frame, a control cabinet, a bed body system and a lower limb fixing system, wherein the bed body system and the lower limb fixing system are arranged on the frame; the lower surface of the bed bottom framework is respectively hinged with a first linear driving mechanism and a swing arm, the first linear driving mechanism is hinged with the swing arm, and a lower limb fixing system extending out of the bed bottom framework is arranged on the swing arm. The swing arm is rotationally connected with the lower limb fixing system through a rotating shaft; the swing arm is hinged with a second linear driving mechanism, and the other end of the second linear driving mechanism is hinged with the lower limb fixing system and drives the lower limb fixing system to rotate around the rotating shaft through the telescopic driving of the second linear driving mechanism. The bed body system moves downwards under the action of gravity, so that the traction and stretching effects are better. The massage roller components on the bed body system move up and down along the guide rail, and conform to the human body curve.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a multifunctional rehabilitation robot for a spine.
Background
The existing cervical vertebra or spine stretching device is commonly used in a method that a human body lies on a stretching bed, feet are fixed, and the spine traction stretching is realized by the gravity of the human body after the bed body is inclined. However, the stretching force is a component of the gravity of a person, is relatively stable, and cannot be adjusted according to the requirement. The direction of the stretching force is single, and the stretching force is longitudinal, so that the stretching in other directions cannot be realized. Can only stretch and can not realize spine massage at the same time, has single efficacy and has poor rehabilitation effect on the human spine.
Disclosure of Invention
The invention aims to provide a multifunctional spine rehabilitation robot which stretches the spine in all directions by utilizing various movements of lower limbs and simultaneously massages the spine.
The object of the invention is achieved in the following way: the multifunctional rehabilitation robot for the spine comprises a frame, a control cabinet, a bed body system and a lower limb fixing system, wherein the bed body system and the lower limb fixing system are arranged on the frame; the lower surface of the bed bottom framework is respectively hinged with a first linear driving mechanism and a swing arm, the first linear driving mechanism is hinged with the swing arm, and a lower limb fixing system extending out of the bed bottom framework is arranged on the swing arm.
The swing arm is rotationally connected with the lower limb fixing system through a rotating shaft; the swing arm is hinged with a second linear driving mechanism, and the other end of the second linear driving mechanism is hinged with the lower limb fixing system and drives the lower limb fixing system to rotate around the rotating shaft through the telescopic driving of the second linear driving mechanism.
The bottom of the frame is hinged with a third linear driving mechanism, the other end of the third linear driving mechanism is hinged with one side of the bed bottom framework, and the third driving mechanism stretches and drives the bed bottom framework to rotate.
The bed bottom framework is provided with a bed body sliding block, the bed body system comprises a bed body panel, and the bed body sliding block is in sliding connection with a bed body sliding rail arranged on the bed body panel; the bed body slide rail is provided with a limit slide block in a sliding way, and the limit slide block is connected with the output end of the electric push rod of the bed body, one end of which is fixed on the panel of the bed body.
The bed system comprises a head component, a head electric push rod is arranged on the bed panel, and the output end of the head electric push rod is connected with the head component.
A massage groove is arranged on the bed body panel along the spine position of the human body, a guide rail component is arranged in the massage groove, one end of the guide rail component is rotationally connected with the bed body panel, and the lower surface of the other end of the guide rail component is in sliding contact with a cam of the cam mechanism; the guide rail component is provided with a massage roller component, the massage roller component is fixed on a synchronous belt transmission mechanism arranged below the bed body panel, and is driven by a synchronous belt of the synchronous belt transmission mechanism to slide on the guide rail component.
The second linear driving mechanism is hinged on a push rod fixing plate of the lower limb fixing system, the push rod fixing plate is in sliding connection with the pedal main body, one end of the pedal telescopic push rod is connected with the push rod fixing plate, the other end of the pedal telescopic push rod is connected with the pedal main body, and the pedal telescopic push rod stretches to drive the pedal main body to move; the pedal body is provided with a pedal plate and a leg supporting plate; leg backup pad top sets up and rotates the leg pressing post connecting plate of being connected and the upper end setting leg pressing post with pedal main part, articulates the leg pressing push rod between leg pressing post connecting plate and the pedal main part, and leg pressing push rod flexible causes leg pressing post connecting plate to rotate and drives leg pressing post and compress tightly the shank.
The beneficial effects of the invention are as follows: the bed body system can incline, and the bed body system can move downwards under the action of gravity, has better traction and stretching effects. The bed body system is provided with the massage roller components, the massage roller components can move back and forth along the guide rail and can also move up and down along the guide rail, the human body curve can be met, and the massage roller components have the replacement massage movement effect.
The lower limb fixing system can swing up and down and left and right, and has better stretching effect for traction force of different sizes and directions of the spine. And the driving part is arranged below the bed bottom framework, so that the space is effectively saved, and the lower limb fixing system can have a larger swing angle.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a frame and lower limb fixation system.
Fig. 3 is a schematic view of a portion of a frame.
Figure 4 is a schematic diagram of a lower limb immobilization system.
Figure 5 is an enlarged view of the junction of the frame and the lower limb fixation system.
FIG. 6 is a schematic diagram of a bed system.
Wherein 1 is a pedal main body, 2 is a leg pressing push rod, 3 is a leg pressing column connecting plate, 4 is a pedal, 5 is a leg pressing column, 6 is a leg supporting plate, 7 is a leg guide rail, 8 is a pedal connecting plate, 9 is a leg sliding block, 10 is a guide rail fixing plate, and 11 is a pedal telescopic push rod; 12 is a synchronous belt transmission mechanism, 13 is a cam mechanism, 14 is a guide rail assembly, 15 is a bed body electric push rod, 16 is a bed body connecting frame, 17 is a bed body sliding rail, 18 is a massage roller assembly, 19 is a head electric push rod, 20 is a head moving guide rod, and 21 is a head assembly; 22 is a swing arm, 23 is a left-right swinging push rod, 24 is a push rod tailstock, 25 is a bed body tilting push rod, 26 is a turnover support column, 27 is an up-down swinging push rod, 28 is a bearing assembly, and 29 is a bed bottom framework; 30 is a frame, 31 is a bed panel, 32 is a limit slide block, 33 is a bed slide block, 34 is a massage groove, 35 is a control cabinet, 36 is a bed system, and 37 is a lower limb fixing system.
Detailed Description
Examples
As shown in fig. 1 to 6, a multifunctional rehabilitation robot for the spine comprises a frame 30, a control cabinet 35, a bed system 36 arranged on the frame 30 and a lower limb fixing system 37. The frame 30 includes a base and a vertically-base flip support column 26. The turnover support column 26 is fixedly provided with a bearing assembly 28, the bearing assembly 28 and a pin shaft are rotatably connected with a bed bottom framework 29, and the bed bottom framework 29 is provided with a bed body system 36. The bottom of the frame 30 is hinged with the tail of a third linear driving mechanism, the head of the third linear driving mechanism is hinged with one side of the bed bottom framework 29, and the third driving mechanism drives the bed bottom framework 29 to rotate along the bearing assembly 28 in a telescopic manner. The third linear driving mechanism may be an electric push rod, i.e. a bed tilting push rod 25.
The lower surface of the bed bottom framework 29 is respectively hinged with a first linear driving mechanism and a swing arm 22, the first linear driving mechanism is hinged with the swing arm 22, and a lower limb fixing system 37 extending out of the bed bottom framework is arranged on the swing arm 22. The first linear driving mechanism may be an electric putter, i.e., a vertically rocking putter 27. The tail of the up-down swinging push rod 27 is fixed on the bed bottom framework 29, the head is fixed on the swing arm 22, the swing arm 22 is connected with the bed bottom framework 29 through a pin shaft, and the up-down swinging of the swing arm 22 is realized through the extension and retraction of the up-down swinging push rod 27, so that the up-down swinging of the lower limb fixing system 37 is driven.
The swing arm 22 is rotatably connected with the lower limb fixing system 37 through a rotating shaft, the swing arm 22 is hinged with a second linear driving mechanism, and the other end of the second linear driving mechanism is hinged on the lower limb fixing system 37 and drives the lower limb fixing system 37 to rotate around the rotating shaft in a telescopic manner through the second linear driving mechanism. The second linear driving mechanism is an electric push rod, namely a left-right swinging push rod 23. The tail of the left-right swinging push rod 23 is fixed on the swing arm 22 through a push rod tail seat 24, the head is fixed on the guide rail fixing plate 10 of the lower limb fixing system 37 through the push rod tail seat 24, and the guide rail fixing plate 10 is rotationally connected with the bed bottom framework 29 through a rotating shaft. The lower limb fixation system 37 swings left and right by extending and retracting the swing push rod 23.
The leg sliding rail 7 is fixed on the guide rail fixing plate 10, the leg sliding block 9 is fixed on the pedal connecting plate 9, and the guide rail fixing plate 10 is in sliding connection with the pedal connecting plate 9. The tail part of the pedal telescopic push rod 11 is fixed on the guide rail fixing plate 10, the pedal telescopic push rod 11 is an electric push rod, the head part of the pedal telescopic push rod 11 is fixed on the pedal connecting plate 9, and the pedal connecting plate 9 is driven to slide along the leg sliding rail 7 through the telescopic push rod 11, so that the whole length of the lower limb fixing system 37 is adjusted to adapt to patients with different heights. The pedal connecting plate 9 is connected with the pedal main body 1 through bolts, the pedal main body 1 is provided with the pedal plate 4 and the leg supporting plate 6, and the leg supporting plate 6 can be provided with supporting sponge. Leg backup pad 6 top sets up and rotates leg pressing post connecting plate 3 that is connected and the upper end sets up leg pressing post 5 with pedal main part 1, presses articulated leg pressing push rod 2 between leg pressing post connecting plate 3 and the pedal main part 1, and the leg pressing push rod is electric putter, and its flexible messenger presses leg pressing post connecting plate 3 to rotate and drives leg pressing post 5 and compress tightly the shank.
The two sides of the bed bottom framework 29 are provided with fixed bed body connecting frames 16, two bed body connecting frames 16 are respectively provided with fixed bed body sliding blocks 33, the bed body system 36 comprises a bed body panel 31, and the bed body sliding blocks 33 are in sliding connection with bed body sliding rails 17 arranged on the bed body panel 31. The bed panel 31 and the slide rail can slide with the bed slider 33 and the bed frame 29. The bed body slide rail 17 is provided with a limit slide block 32 in a sliding way, the limit slide block 32 is connected with the head of the bed body electric push rod 15, the tail of which is fixed on the bed body panel 31, and the bed body system 36 is controlled to move a distance to the direction of the head of a human body or the bed body system 36 is locked by controlling the extension length of the bed body electric push rod 15. In the initial state, the electric push rod 15 is in a compressed state, and after the bed bottom framework 29 is inclined, the bed system 36 drives the bed slide rail 17 and the bed bottom framework 29 to slide due to gravity. When the limit slider 32 moves into contact with the bed slider 33, the bed system 36 cannot slide downward any more, and the limit slider 32 plays a limiting role. When the bed system 36 is required to return to the initial position, the bed motor-driven push rod 15 is extended. Since the limit slider 32 is in contact with the bed slider 33, the position of the limit slider 32 relative to the bed bottom frame 29 is not changed and the bed system 36 moves back into position. When the bed bottom frame 29 is inclined and the bed system 36 slides down due to gravity, the traction force applied to the human body is equal to the component force of the gravity of the human body and the bed system 36 along the inclination direction of the bed system 36, and the traction force is relatively large.
The bed system 36 comprises a head assembly 21, a head electric push rod 19 is arranged on the bed panel 31, and the output end of the head electric push rod 19 is connected with the head assembly 21. The head assembly 21 is controlled to stretch and retract by controlling the head electric push rod 19, and the head assembly 21 is provided with the head movement guide rod 20 so as to stabilize the movement of the head assembly 21. By adjusting the length of the head assembly 21 to accommodate patients of different heights.
The bed body panel 31 is provided with a massage groove 34 along the spine position of the human body, the massage groove 34 is internally provided with a guide rail assembly 14, one end of the guide rail assembly 14 is rotationally connected with the bed body panel 31, and the lower surface of the other end is in sliding contact with a cam of the cam mechanism 13. The guide rail assembly 14 is provided with a massage roller assembly 18, the massage roller assembly 18 is fixed on a synchronous belt transmission mechanism 12 arranged below a bed surface plate 31, and is driven by a synchronous belt of the synchronous belt transmission mechanism 12 to slide back and forth on the guide rail assembly 14. One end of the guide rail assembly 14 is lifted or lowered through the rotation of the cam mechanism 13, two massage rollers of the massage roller assembly 18 are respectively contacted with two sides of the spine of a patient, the back and forth movement of the massage roller assembly 18 and the up and down lifting of the guide rail assembly 14 can be controlled through a program, so that the massage of the massage rollers accords with the physiological radian of the spine of a human body, and a better treatment effect is achieved. The two massage rollers of the massage roller assembly 18 are equipped with ultrasonic sensors that detect metal. During treatment, a foil is placed adjacent to the patient's spinal pathology. In the process of the movement of the massage roller, the ultrasonic sensor can stop after detecting the metal sheet, and the massage roller is driven by the cam mechanism 13 to move up and down to massage the spine.
The control cabinet 35 is provided with a computer, the control cabinet 35 is connected with a driving motor, various electric push rods and the like through data lines to realize data transmission, and treatment parameters are set through a treatment mode of the program control equipment.
In practice, after the patient lies on the bed, the distance from the pedal 4 to the bed panel 31 is adjusted by the pedal telescopic push rod 11 and the distance from the head assembly 21 to the bed panel 31 is adjusted by the telescopic push rod 19 according to the height of the patient. The adjusted lying position is good, the leg pressing column presses the legs, and the treatment mode is selected through the control cabinet 35 system to set treatment parameters. The bed body tilting push rod 25 stretches to control the tilting of the bed bottom framework 29, the head of the bed body system 36 tilts downwards, and the tilted bed body tilts downwards along the bed bottom framework 29 due to self gravity, so that the human spine bears traction force. After the limit slider 32 and the bed slider 33 of the bed system 36 are in contact limit, the bed system 36 stops sliding. The swing arm 22 swings up and down through the extension and retraction of the up and down swinging push rod 27, so as to drive the lower limb fixing system 37 to swing up and down; the lower limb fixation system 37 swings left and right by extending and retracting the swing push rod 23. The lower limb fixation system 37 drives the human lower limb to swing, thereby providing traction forces of different magnitudes and directions to the human spine for better therapeutic effect. Meanwhile, the massage roller assembly 18 is driven by the synchronous belt transmission mechanism 12 to reciprocate along the spine of the human body, and the up-and-down position of the massage roller assembly 18 is adjusted by the cam mechanism 13 so as to meet the requirement of the human body and massage in the pathological change position in an up-and-down motion way.
Claims (4)
1. The multifunctional rehabilitation robot for the spine comprises a frame, a control cabinet, a bed body system and a lower limb fixing system, wherein the bed body system and the lower limb fixing system are arranged on the frame; the method is characterized in that: the machine frame is rotationally connected with a bed bottom framework, and a bed body system is arranged on the bed bottom framework; the lower surface of the bed bottom framework is respectively hinged with a first linear driving mechanism and a swing arm, the first linear driving mechanism is hinged with the swing arm, and a lower limb fixing system extending out of the bed bottom framework is arranged on the swing arm;
the swing arm is rotationally connected with the lower limb fixing system through a rotating shaft; the swing arm is hinged with a second linear driving mechanism, the other end of the second linear driving mechanism is hinged with the lower limb fixing system, and the lower limb fixing system is driven to rotate around the rotating shaft by the telescopic driving of the second linear driving mechanism;
the bottom of the frame is hinged with a third linear driving mechanism, the other end of the third linear driving mechanism is hinged with one side of the bed bottom framework, and the third linear driving mechanism stretches and drives the bed bottom framework to rotate;
the bed system comprises a bed panel, wherein a massage groove is formed in the bed panel along the spine position of a human body, a guide rail assembly is arranged in the massage groove, one end of the guide rail assembly is rotationally connected with the bed panel, and the lower surface of the other end of the guide rail assembly is in sliding contact with a cam of the cam mechanism; the guide rail component is provided with a massage roller component which is fixed on a synchronous belt transmission mechanism arranged below the bed body panel and is driven by a synchronous belt of the synchronous belt transmission mechanism to slide on the guide rail component;
the frame comprises a base and a turnover support column perpendicular to the base, wherein a bearing assembly is fixed on the turnover support column, and the bed bottom framework is rotationally connected through the bearing assembly and a pin shaft.
2. The multi-functional spinal rehabilitation robot according to claim 1, wherein: the bed bottom framework is provided with a bed body sliding block which is in sliding connection with a bed body sliding rail arranged on the bed body panel; the bed body slide rail is provided with a limit slide block in a sliding way, and the limit slide block is connected with the output end of the electric push rod of the bed body, one end of which is fixed on the panel of the bed body.
3. The multi-functional spinal rehabilitation robot according to claim 2, wherein: the bed system comprises a head assembly, a head electric push rod is arranged on the bed panel, and the output end of the head electric push rod is connected with the head assembly.
4. A multi-functional rehabilitation robot for the spine according to any one of claims 1 to 3, characterized in that: the second linear driving mechanism is hinged on a push rod fixing plate of the lower limb fixing system, the push rod fixing plate is in sliding connection with the pedal main body, one end of the pedal telescopic push rod is connected with the push rod fixing plate, the other end of the pedal telescopic push rod is connected with the pedal main body, and the pedal telescopic push rod stretches and contracts to drive the pedal main body to move; the pedal body is provided with a pedal plate and a leg supporting plate; leg backup pad top sets up and rotates the leg pressing post connecting plate of being connected and the upper end setting leg pressing post with pedal main part, articulates the leg pressing push rod between leg pressing post connecting plate and the pedal main part, and leg pressing push rod flexible causes leg pressing post connecting plate to rotate and drives leg pressing post and compress tightly the shank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810420534.8A CN108464881B (en) | 2018-05-04 | 2018-05-04 | Multifunctional rehabilitation robot for spine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810420534.8A CN108464881B (en) | 2018-05-04 | 2018-05-04 | Multifunctional rehabilitation robot for spine |
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| Publication Number | Publication Date |
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| CN108464881A CN108464881A (en) | 2018-08-31 |
| CN108464881B true CN108464881B (en) | 2023-12-26 |
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| CN201810420534.8A Active CN108464881B (en) | 2018-05-04 | 2018-05-04 | Multifunctional rehabilitation robot for spine |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109646166B (en) * | 2018-12-05 | 2024-02-06 | 河南翔宇医疗设备股份有限公司 | Spinal traction pressure reducing device |
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| WO2011127821A1 (en) * | 2010-04-13 | 2011-10-20 | Wang Jiwen | Multifunctional exercise device |
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| KR20130085596A (en) * | 2012-01-20 | 2013-07-30 | 박진묵 | The stretching and exercise device |
| KR101213299B1 (en) * | 2012-02-06 | 2012-12-18 | 박의경 | Vertebra proofreading device |
| WO2016188491A1 (en) * | 2015-05-28 | 2016-12-01 | 康知园（杭州）健身器材有限公司 | Massage fitness bed having massage head protruding from bed surface and capable of pushing, swinging, lifting/lowering, and moving |
| TW201706016A (en) * | 2015-08-14 | 2017-02-16 | Ching-Feng Shih | Human spine traction machine improving the spinal traction rehabilitation effectiveness |
| CN105496718A (en) * | 2015-11-27 | 2016-04-20 | 丁友志 | Function bed used for treatment and rehabilitation of orthopaedic spine |
| CN105396266A (en) * | 2015-12-15 | 2016-03-16 | 王俊华 | Four-limb linkage rehabilitation training robot |
| KR20170137349A (en) * | 2016-06-03 | 2017-12-13 | 허강수 | spondylopathy treatment apparatus using three-level spine retracting technique and having foot bath function and thermotherapy function, method, recording medium |
| CN208958450U (en) * | 2018-05-04 | 2019-06-11 | 郑州飞龙医疗设备有限公司 | Backbone Multifunctional rehabilitation robot |
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| CN108464881A (en) | 2018-08-31 |
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