CN108652806A - A kind of wearable lumbar vertebra rehabilitation therapeutic device - Google Patents
A kind of wearable lumbar vertebra rehabilitation therapeutic device Download PDFInfo
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- 230000001225 therapeutic effect Effects 0.000 title 1
- 210000004705 lumbosacral region Anatomy 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 210000005069 ears Anatomy 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 10
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 9
- 201000010099 disease Diseases 0.000 description 3
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- 208000005801 spondylosis Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010035148 Plague Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 208000036319 cervical spondylosis Diseases 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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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. long-term immobilising or pressure directing devices for treating broken or deformed bones such as 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
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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. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0104—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
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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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
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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
- 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
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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
- 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
- A61H2201/165—Wearable interfaces
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Abstract
一种穿戴式腰椎康复治疗装置，本发明主要包括主平台、按摩平台、辅平台及将三者连在一起的柔性带。其中，主平台又包括：内支撑架、电机安装架、第一电机、小齿轮、弧形齿圈、第一围腰环、第一固定皮带以及外壳体。辅平台又包括第二电机、第二围腰环、第二固定皮带和控制器。按摩平台包括按摩电机、按摩底座按摩头、安装台和固定皮带。本发明通过第一围腰环转动实现带动人体腰部左右扭动，通过连组件的运动实现带动人体的腰部左右摆动和上下运动，在左右摆动的同时，实现对腰椎的拉伸。同时不仅能对人体腰椎进行康复治疗，而且还可以对人体腰部进行按摩，更有利于人体腰部的康复。
A wearable lumbar spine rehabilitation treatment device mainly includes a main platform, a massage platform, an auxiliary platform and a flexible belt connecting the three together. Wherein, the main platform further includes: an inner support frame, a motor mounting frame, a first motor, a pinion gear, an arc ring gear, a first waist ring, a first fixed belt and an outer shell. The auxiliary platform includes a second motor, a second waist ring, a second fixed belt and a controller. The massage platform includes a massage motor, a massage base, a massage head, a mounting table and a fixed belt. The present invention drives the human waist to twist left and right through the rotation of the first waist ring, and drives the waist of the human body to swing left and right and move up and down through the movement of the connecting component, and realizes stretching of the lumbar spine while swinging left and right. At the same time, it can not only perform rehabilitation treatment on the human lumbar spine, but also massage the human waist, which is more conducive to the rehabilitation of the human waist.
Description
技术领域technical field
本发明涉及一种医疗器械，特别是用于康复的医疗器械。The invention relates to a medical device, especially a medical device for rehabilitation.
背景技术Background technique
随着社会经济的发展和人民生活水平的提高，脊椎病已成为困扰人们健康生活的问题之一。脊椎病可以分为颈椎病和腰椎病，而腰椎病在我们的生活中是一种很常见的骨科疾病，根据调查研究发现，世界上大约有75％的人得过腰椎疾病。随着科学技术的发展，一些长时间维持着相同姿势的人，如程序员、会计、打字员、教师、司机、医生等，这些人由于长时间维持着一样的姿势同时又缺乏锻炼，腰椎长时间处于不健康状态，久而久之，给脊柱赋予了极大的负担，会使脊柱发生变形，产生病变，患上腰椎病。一般来说，腰椎病也与年龄密切相关，人到了一定的年龄，由于一些生活中的不良习惯、不良姿势，再加上免疫力下降使身体各方面的抵抗力降低，容易受各种不良因素的影响，从而提高了腰椎病的患病率。With the development of social economy and the improvement of people's living standards, spondylosis has become one of the problems that plague people's healthy life. Spondylosis can be divided into cervical spondylosis and lumbar spondylosis, and lumbar spondylosis is a very common orthopedic disease in our life. According to research, about 75% of people in the world have suffered from lumbar spine disease. With the development of science and technology, some people who maintain the same posture for a long time, such as programmers, accountants, typists, teachers, drivers, doctors, etc., because these people maintain the same posture for a long time and lack of exercise, the lumbar spine is long. Staying in an unhealthy state for a long time will put a great burden on the spine over time, which will deform the spine, cause lesions, and suffer from lumbar spondylosis. Generally speaking, lumbar spondylosis is also closely related to age. When a person reaches a certain age, due to some bad habits in life, bad posture, and the decline in immunity, the resistance of all aspects of the body is reduced, and people are susceptible to various adverse factors. The impact, thereby increasing the prevalence of lumbar spondylosis.
而目前，为了治疗腰椎病，市场上帮助腰椎康复的设备多采用对腰椎牵引的方式，功能比较单一，不能协助腰部进行多方面的运动，康复训练效果不理想。At present, in order to treat lumbar spondylosis, most of the equipment on the market to help lumbar rehabilitation use lumbar traction, which has a single function and cannot assist the waist in various movements, and the rehabilitation training effect is not ideal.
发明内容Contents of the invention
本发明的目的在于提供一种在牵引腰椎的同时，人体腰部能够进行多方向的锻炼，可有效治疗或预防腰椎疾病的多功能穿戴式腰椎康复治疗装置。The purpose of the present invention is to provide a multi-functional wearable lumbar spine rehabilitation treatment device that can effectively treat or prevent lumbar spine diseases by performing multi-directional exercises on the human waist while pulling the lumbar spine.
本发明解决其技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve its technical problems is:
本发明主要包括主平台、按摩平台、辅平台及将三者连在一起的柔性带。其中，主平台又包括：内支撑架、电机安装架、第一电机、小齿轮、弧形齿圈、第一围腰环、第一固定皮带以及外壳体。第一电机设在电机安装架上，其输出轴与小齿轮相连，由于第一电机的输出轴直径较小，最好，第一电机的输出轴与楔形连接头的槽孔紧配合连接，楔形连接头的楔形外壁面与小齿轮的中心通孔紧配合连接，楔形连接头两平板式楔形安装块分别与小齿轮盘用紧固件连接。所述小齿轮与弧形齿圈相啮合，该弧形齿圈通过紧固件固定在第一腰围环上一个端面的局部上开口槽上。该第一腰围环为两端面均设下开口槽即截面呈T形的半圆环，其非设弧形齿圈的另一端面与内支撑架下部侧开口半圆槽即滑轨相对应，内支撑架上部与电机安装架通过紧固件固连。第一围腰环在弧形齿圈的驱动下沿内支撑架的滑轨滑动；为了减小第一围腰环与内支撑架之间的摩擦，将二者之间的滑动摩擦转化为滚动摩擦，即在第一围腰环竖直的槽面上间断地设有若干半球形槽孔，在每个槽孔上设一个滚珠，滚珠外面设有与竖直槽面对应的半环片形第二压板，其上设有与各滚珠对应的通孔，在每个滚珠对应的内支撑架上设有对应的水平圆柱形槽孔，槽孔内设有弹簧；又在第一围腰环水平的槽面上间断地设有若干竖直槽孔，在每个槽孔内设一个弹簧，弹簧外面设有滚珠，滚珠外面设有半环形第一压板，其上设有与各滚珠对应的通孔。另在第一围腰环的外周面上设有若干均布的使其与内支撑架之间的滑动摩擦转化为滚动摩擦的滚动体，滚动体是由滚动轴与套在其外面的滚筒组成，滚动轴置于内支撑架上对应的通孔内。最好在电机安装架、第一电机、小齿轮及楔形连接头外面设有外壳体。内支撑架下端两外侧各设一个与其固连的水平连接耳，两连接耳各与一组连杆组件的第二连杆一端铰接，第二连杆另一端与第一连杆一端铰接，最好两者之间采用深沟球轴承连接，第一连杆另一端与辅平台的第二电机输出轴固连。电机带动两连杆实现绕两连杆中间固定处转动，从而带动腰部实现腰部的上下拉伸锻炼运动。第一固定皮带上端分别固定在第一围腰环两下端上。最好，第二连杆与内支撑架之间还安装有扭簧，作用是不使用的时候让连杆复位，便于存放。The invention mainly includes a main platform, a massage platform, an auxiliary platform and a flexible belt connecting the three together. Wherein, the main platform further includes: an inner support frame, a motor mounting frame, a first motor, a pinion gear, an arc ring gear, a first waist ring, a first fixed belt and an outer shell. The first motor is arranged on the motor mounting frame, and its output shaft is connected with the pinion. Since the output shaft diameter of the first motor is relatively small, it is best that the output shaft of the first motor is tightly fitted and connected with the slotted hole of the wedge-shaped connector. The wedge-shaped outer wall surface of the connecting head is tightly fitted and connected with the central through hole of the pinion, and the two flat-plate wedge-shaped mounting blocks of the wedge-shaped connecting head are respectively connected with the pinion plate by fasteners. The pinion is meshed with the arc-shaped ring gear, and the arc-shaped ring gear is fixed on the partial upper opening groove on one end surface of the first waist ring by a fastener. The first waist ring is a semi-circular ring with opening grooves on both ends, that is, a T-shaped cross-section. The upper part of the supporting frame is fixedly connected with the motor mounting frame through fasteners. Driven by the arc-shaped ring gear, the first waist ring slides along the slide rail of the inner support frame; in order to reduce the friction between the first waist ring and the inner support frame, the sliding friction between the two is converted into rolling Friction, that is, a number of hemispherical slots are intermittently provided on the vertical slot surface of the first girdle ring, a ball is provided on each slot hole, and a semi-ring piece corresponding to the vertical slot surface is provided outside the ball Shaped second pressure plate is provided with through holes corresponding to the balls, and corresponding horizontal cylindrical slots are provided on the inner support frame corresponding to each ball, and springs are arranged in the slots; A number of vertical slots are intermittently arranged on the horizontal groove surface of the ring, and a spring is arranged in each slot, balls are arranged outside the spring, and a semi-circular first pressing plate is arranged outside the balls, on which there is a spring corresponding to each ball. through holes. In addition, on the outer peripheral surface of the first waist ring, there are evenly distributed rolling elements that convert the sliding friction between it and the inner support frame into rolling friction. The rolling elements are composed of a rolling shaft and a roller sleeved outside it , the rolling shaft is placed in the corresponding through hole on the inner support frame. Preferably, an outer casing is provided outside the motor mounting frame, the first motor, the pinion and the wedge joint. The two outer sides of the lower end of the inner support frame are respectively provided with a horizontal connecting ear fixedly connected with it, and each of the two connecting ears is hinged to one end of the second connecting rod of a set of connecting rod assemblies, and the other end of the second connecting rod is hinged to one end of the first connecting rod. Preferably, the two are connected by deep groove ball bearings, and the other end of the first connecting rod is fixedly connected with the output shaft of the second motor of the auxiliary platform. The motor drives the two connecting rods to rotate around the fixed part in the middle of the two connecting rods, thereby driving the waist to realize the stretching exercise of the waist up and down. The upper ends of the first fixed belt are respectively fixed on the two lower ends of the first waist ring. Preferably, a torsion spring is also installed between the second connecting rod and the inner support frame, and the effect is to reset the connecting rod when not in use, so as to facilitate storage.
辅平台主要包括第二电机、第二围腰环、第二固定皮带和控制器。其中，两个第二电机分别设在两水平的连接件上，两水平连接件分别固定在半圆槽形第二围腰环两下端外侧，第二围腰环两下端内侧分别固定有第二固定皮带上端。所述第二围腰环一侧设开口，开口内安装第二固定皮带，并可以减重，让整个装置更轻便。辅平台在整个装置中主要起支架的作用，连杆组件以此为支架，驱动主平台做上下运动的同时左右摆动，进而带动人体腰部做相应运动进行康复治疗。辅平台上还安装有控制器，通过控制器发送命令给第一电机、第二电机和按摩电机，驱动本发明装置实现人体腰部左右扭动、左右摆动和上下拉伸运动。The auxiliary platform mainly includes a second motor, a second waist ring, a second fixed belt and a controller. Wherein, the two second motors are respectively arranged on the two horizontal connectors, and the two horizontal connectors are respectively fixed on the outer sides of the two lower ends of the semicircular groove-shaped second waist ring, and the inner sides of the two lower ends of the second waist ring are respectively fixed with second fixed motors. belt top. An opening is arranged on one side of the second waist ring, and a second fixed belt is installed in the opening, which can reduce weight and make the whole device lighter. The auxiliary platform mainly plays the role of a support in the whole device, and the connecting rod assembly uses this as a support to drive the main platform to move up and down while swinging left and right, and then drive the waist of the human body to perform corresponding movements for rehabilitation treatment. A controller is also installed on the auxiliary platform, and the controller sends commands to the first motor, the second motor and the massage motor to drive the device of the present invention to realize the left and right twisting, left and right swinging and up and down stretching movements of the human waist.
在主平台与辅平台之间还设有分别通过柔性带与它们相连的按摩平台，柔性带可选用柔性布带。按摩平台包括按摩电机、按摩底座按摩头、安装台和固定皮带。平板形安装台上面设有按摩电机，其输出轴穿过安装台对应的通孔与设在安装台下面的按摩底座相连，在按摩底座上设有多个规格不同的按摩头。另在安装台两侧分别固定和人体相连的第三皮带的一端。最好，按摩电机为两个，两个按摩底座上分别设有八个轻重交替的按摩头，由按摩底座带动按摩头转动，可以对人体腰部实现多功能，不同轻重程度的按摩，可模仿人在按摩时按摩用力的大小变化，并且可实现正反转，轻重交替的双向旋转按摩。Between the main platform and the auxiliary platform, there are also massage platforms connected to them respectively through flexible belts, and flexible cloth belts can be selected for the flexible belts. The massage platform includes a massage motor, a massage base, a massage head, a mounting table and a fixed belt. A massage motor is arranged on the flat mounting table, and its output shaft passes through the corresponding through hole of the mounting table to be connected with the massage base provided under the mounting table, and a plurality of massage heads with different specifications are arranged on the massage base. In addition, one end of the third belt connected to the human body is respectively fixed on both sides of the installation platform. Preferably, there are two massage motors, and eight massage heads with alternating light and heavy weights are respectively arranged on the two massage bases. The massage heads are driven by the massage base to rotate, which can realize multi-function on the human waist. Massage of different degrees of severity can imitate human body The massage force changes during massage, and it can realize forward and reverse, alternating light and heavy two-way rotating massage.
本发明的工作过程大致如下：康复治疗时，只需将本装置通过第一固定皮带、第二固定皮带和第三固定皮带固定在人体腰部，通过第一围腰环转动实现带动人体腰部左右扭动，通过连杆组件的运动实现带动人体的腰部左右摆动和上下运动，在左右摆动的同时，实现对腰椎的拉伸，进行康复治疗。The working process of the present invention is roughly as follows: during rehabilitation treatment, the device only needs to be fixed on the waist of the human body through the first fixed belt, the second fixed belt and the third fixed belt, and the rotation of the first waist ring can drive the human body to twist left and right. The movement of the connecting rod assembly can drive the waist of the human body to swing from side to side and move up and down. While swinging from side to side, it can stretch the lumbar spine and perform rehabilitation treatment.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、通过第一围腰环转动实现带动人体腰部左右扭动，通过连组件的运动实现带动人体的腰部左右摆动和上下运动，在左右摆动的同时，实现对腰椎的拉伸。1. Through the rotation of the first waist ring, the waist of the human body can be driven to twist left and right, and the waist of the human body can be driven to swing left and right and move up and down through the movement of the connecting components, and the lumbar spine can be stretched while swinging left and right.
2、在对人体腰椎进行康复治疗的同时，还可以对人体腰部进行按摩，更有利于人体腰部的康复。2. While performing rehabilitation treatment on the human lumbar spine, it can also massage the human waist, which is more conducive to the rehabilitation of the human waist.
3、本发明结构简单，使用方便，且成本很低，质量轻，方便携带，只需要把质量相对较轻的本装置通过固定带固定在人体腰部即可开始康复治疗，非常适用家庭日常生活中进行康复治疗。3. The present invention is simple in structure, easy to use, low in cost, light in weight, and easy to carry. It only needs to fix the relatively light device on the waist of the human body through a fixing belt to start rehabilitation treatment, which is very suitable for family daily life. Get rehab.
4、通过弹簧滚珠结构和滚动体使第一围腰环与内支撑架之间为滚动摩擦，减小摩擦提高电机的工作效率。4. Through the spring ball structure and the rolling body, there is rolling friction between the first waist ring and the inner support frame, which reduces the friction and improves the working efficiency of the motor.
附图说明Description of drawings
图1是本发明立体示意简图；Fig. 1 is a three-dimensional schematic diagram of the present invention;
图2是本发明主视示意简图；Fig. 2 is a schematic diagram of the front view of the present invention;
图3是图2中A-A剖视图；Fig. 3 is A-A sectional view among Fig. 2;
图4是图3中B部放大图；Fig. 4 is an enlarged view of part B in Fig. 3;
图5是本发明主平台隐藏外壳体后的立体示意简图；Fig. 5 is a three-dimensional schematic diagram of the main platform of the present invention with the outer casing hidden;
图6是本发明第一围腰环立体示意简图；Fig. 6 is a three-dimensional schematic diagram of the first waist ring of the present invention;
图7是本发明内支撑架立体示意简图；Fig. 7 is a three-dimensional schematic diagram of the inner support frame of the present invention;
图8是本发明主平台部分立体示意简图；Fig. 8 is a three-dimensional schematic diagram of the main platform part of the present invention;
图9是本发明连杆组件立体示意简图；Fig. 9 is a three-dimensional schematic diagram of the connecting rod assembly of the present invention;
图10是本发明按摩平台立体示意简图；Fig. 10 is a three-dimensional schematic diagram of the massage platform of the present invention;
图11是图3中C部放大图。Fig. 11 is an enlarged view of part C in Fig. 3 .
图中：1、主平台，1.1、内支撑架，1.1.1、水平槽孔，1.2、电机安装架，1.3、第一电机，1.4、小齿轮，1.5、弧形齿圈，1.6、第一围腰环，1.6.1、外周面，1.6.2、水平的槽面，1.6.3、竖直的槽面，1.6.4、竖直槽孔，1.7、第一固定皮带，1.8、滚动体，1.9、滚珠，2.0、弹簧，2.1、第一压板，2.2、第二压板，2.3、楔形安装块，2.3.1、楔形连接头，2.4、外壳体，3、辅平台，3.1、第二围腰环，3.2、第二固定皮带，3.3、控制器，4、按摩平台，4.1、按摩电机，4.2、按摩底座，4.3、按摩头，4.4、第三固定皮带，4.5、安装台，5、连杆组件，5.1、第二电机，5.2、第一连杆，5.3、第二连杆，6、柔性带，7、扭簧。In the figure: 1. main platform, 1.1, inner support frame, 1.1.1, horizontal slot hole, 1.2, motor mounting frame, 1.3, first motor, 1.4, pinion gear, 1.5, arc ring gear, 1.6, first Waist ring, 1.6.1, outer peripheral surface, 1.6.2, horizontal groove surface, 1.6.3, vertical groove surface, 1.6.4, vertical groove hole, 1.7, first fixed belt, 1.8, rolling body , 1.9, ball, 2.0, spring, 2.1, first pressure plate, 2.2, second pressure plate, 2.3, wedge-shaped mounting block, 2.3.1, wedge-shaped connector, 2.4, outer shell, 3, auxiliary platform, 3.1, second circumference Waist ring, 3.2, second fixed belt, 3.3, controller, 4, massage platform, 4.1, massage motor, 4.2, massage base, 4.3, massage head, 4.4, third fixed belt, 4.5, installation table, 5, even Rod assembly, 5.1, second motor, 5.2, first connecting rod, 5.3, second connecting rod, 6, flexible belt, 7, torsion spring.
具体实施方式Detailed ways
结合附图对本发明作进一步详细的说明。The present invention will be described in further detail in conjunction with the accompanying drawings.
在图1、图2、图3、图5和图8所示的穿戴式腰椎康复治疗装置的示意简图中，本发明主要包括主平台1、按摩平台4、辅平台3及将三者连在一起的柔性带6。第一电机1.3设在电机安装架1.2上，其输出轴与小齿轮相连，由于第一电机的输出轴直径较小，如图11所示，第一电机的输出轴与楔形连接头2.3.1的槽孔紧配合连接，楔形连接头2.3.1的楔形外壁面与小齿轮1.4的中心通孔紧配合连接，楔形连接头两平板式楔形安装块2.3分别与小齿轮盘用紧固件连接。所述小齿轮1.4与弧形齿圈1.5相啮合，该弧形齿圈通过紧固件固定在第一腰围环1.6上一个端面的局部上开口槽上。该第一腰围环为两端面均设下开口槽即截面呈T形的半圆环，其非设弧形齿圈的另一端面与内支撑架1.1下部侧开口半圆槽即滑轨相对应，如图7所示，内支撑架上部与电机安装架通过紧固件固连。为了减小第一围腰环1.6与内支撑架1.1之间的摩擦，将二者之间的滑动摩擦转化为滚动摩擦，如图4和图6所示，在第一围腰环竖直的槽面1.6.3上间断地设有若干半球形槽孔，在每个槽孔上设一个滚珠1.9，滚珠外面设有与竖直槽面对应的半环片形第二压板2.2，其上设有与各滚珠对应的通孔，在每个滚珠对应的内支撑架上设有对应的水平槽孔1.1.1，槽孔内设有弹簧2.0；又在第一围腰环水平的槽面1.6.2上间断地设有若干竖直槽孔1.6.4，在每个槽孔内设一个弹簧2.0，弹簧外面设有滚珠1.9，滚珠外面设有半环形第一压板2.1，其上设有与各滚珠对应的通孔。另在第一围腰环1.6的外周面1.6.1上设有若干均布的使其与内支撑架之间的滑动摩擦转化为滚动摩擦的滚动体1.8，如图8所示，滚动体是由滚动轴与套在其外面的滚筒组成，滚动轴置于内支撑架上对应的通孔内。在电机安装架1.2、第一电机1.3、小齿轮1.4及楔形连接头2.3.1外面设有外壳体2.4。第一固定皮带上端分别固定在第一围腰环两下端上。In Fig. 1, Fig. 2, Fig. 3, Fig. 5 and the schematic diagram of the wearable lumbar spine rehabilitation treatment device shown in Fig. 8, the present invention mainly includes a main platform 1, a massage platform 4, an auxiliary platform 3 and connecting the three Flexible straps 6 together. The first motor 1.3 is arranged on the motor mounting frame 1.2, and its output shaft is connected with the pinion. Since the output shaft diameter of the first motor is small, as shown in Figure 11, the output shaft of the first motor is connected to the wedge-shaped connector 2.3.1 The slotted holes of the wedge-shaped connector 2.3.1 are tightly fitted and connected with the center through hole of the pinion 1.4, and the two flat-plate wedge-shaped mounting blocks 2.3 of the wedge-shaped connector are respectively connected with the pinion plate with fasteners. The pinion 1.4 meshes with the arc-shaped ring gear 1.5, and the arc-shaped ring gear is fixed on a partial upper open groove on an end surface of the first waist ring 1.6 by fasteners. The first waist ring is a semi-circular ring with lower opening grooves on both ends, that is, a T-shaped cross-section, and the other end surface of the non-arc-shaped ring gear is corresponding to the semi-circular groove on the lower side of the inner support frame 1.1, that is, the slide rail. As shown in FIG. 7 , the upper part of the inner support frame is fixedly connected with the motor mounting frame through fasteners. In order to reduce the friction between the first waist ring 1.6 and the inner support frame 1.1, the sliding friction between the two is converted into rolling friction, as shown in Figure 4 and Figure 6, in the vertical direction of the first waist ring The groove surface 1.6.3 is intermittently provided with a number of hemispherical groove holes, and a ball 1.9 is arranged on each groove hole, and a semi-ring-shaped second pressure plate 2.2 corresponding to the vertical groove surface is arranged on the outside of the ball, on which There are through holes corresponding to each ball, and a corresponding horizontal slot 1.1.1 is provided on the inner support frame corresponding to each ball, and a spring 2.0 is arranged in the slot; 1.6.2 is intermittently provided with a number of vertical slots 1.6.4, a spring 2.0 is provided in each slot, a ball 1.9 is provided outside the spring, a semi-circular first pressure plate 2.1 is provided outside the ball, and a Through hole corresponding to each ball. In addition, on the outer peripheral surface 1.6.1 of the first waist ring 1.6, there are a number of evenly distributed rolling elements 1.8 that convert the sliding friction between the inner support frame into rolling friction. As shown in Figure 8, the rolling elements are It consists of a rolling shaft and a roller sheathed outside it, and the rolling shaft is placed in the corresponding through hole on the inner support frame. An outer casing 2.4 is provided outside the motor mounting frame 1.2, the first motor 1.3, the pinion gear 1.4 and the wedge connector 2.3.1. The upper ends of the first fixed belt are respectively fixed on the two lower ends of the first waist ring.
内支撑架下端两外侧各设一个与其固连的水平连接耳，两连接耳各与一组连杆组件5的第二连杆5.3一端铰接，第二连杆另一端与第一连杆5.2一端的铰接，如图9所示，两者之间采用深沟球轴承连接，第一连杆另一端与辅平台的第二电机5.1输出轴固连。The two outer sides of the lower end of the inner support frame are respectively provided with a horizontal connecting ear fixedly connected thereto. The two connecting ears are respectively hinged with one end of the second connecting rod 5.3 of a set of connecting rod assembly 5, and the other end of the second connecting rod is connected with one end of the first connecting rod 5.2. As shown in Figure 9, the two are connected by deep groove ball bearings, and the other end of the first connecting rod is fixedly connected with the output shaft of the second motor 5.1 of the auxiliary platform.
辅平台3的两个第二电机分别设在两水平的连接件上，两水平连接件分别固定在半圆槽形第二围腰环3.1两下端外侧，第二围腰环两下端内侧分别固定有第二固定皮带上端。该第二围腰环一侧设开口，开口内安装第二固定皮带3.2。辅平台3上还安装有控制器3.3。在主平台与辅平台之间还设有分别通过柔性带6与它们相连的按摩平台4，柔性带6为柔性布带。The two second motors of the auxiliary platform 3 are respectively arranged on two horizontal connectors, and the two horizontal connectors are respectively fixed on the outer sides of the two lower ends of the second waist ring 3.1 in the shape of a semicircle, and the inner sides of the two lower ends of the second waist ring are respectively fixed with The second fixed belt upper end. One side of the second waist ring is provided with an opening, and a second fixed belt 3.2 is installed in the opening. A controller 3.3 is also installed on the auxiliary platform 3 . Between the main platform and the auxiliary platform, there are also massage platforms 4 connected to them respectively through flexible belts 6, and the flexible belts 6 are flexible cloth belts.
在图10所示的本发明按摩平台立体示意简图中，平板形安装台4.5上面设有两个按摩电机4.1，其输出轴穿过安装台对应的通孔与设在安装台下面的按摩底座4.2相连，在两个按摩底座4.2上设有八个轻重交替的的按摩头4.3。另在安装台两侧分别固定和人体相连的第三皮带4.4的一端。In the three-dimensional schematic diagram of the massage platform of the present invention shown in Figure 10, two massage motors 4.1 are arranged on the flat mounting platform 4.5, and their output shafts pass through the corresponding through holes of the mounting platform and the massage base located under the mounting platform. 4.2 are connected, and eight light and heavy massage heads 4.3 alternately are provided on two massage bases 4.2. In addition, one end of the third belt 4.4 that is connected to the human body is respectively fixed on both sides of the installation platform.
又在图1中，第二连杆5.3与内支撑架1.1之间还安装有扭簧7，所述扭簧中部穿过固定在第二连杆上的圆管，扭簧两端固定在内支撑架上。In Fig. 1, a torsion spring 7 is also installed between the second connecting rod 5.3 and the inner support frame 1.1, the middle part of the torsion spring passes through the round tube fixed on the second connecting rod, and the two ends of the torsion spring are fixed inside on the support frame.
Claims (5)
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| CN111035491A (en) * | 2020-01-06 | 2020-04-21 | 林雪林 | Spinal column auxiliary treatment device for spinal surgery |
| CN111184619A (en) * | 2020-01-13 | 2020-05-22 | 北京工业大学 | A muscle strength training device for waist rotation |
| CN111658437A (en) * | 2020-07-01 | 2020-09-15 | 唐山海容机器人应用技术研究院 | A wearable lumbar spine rehabilitation training device |
| CN111920606A (en) * | 2020-08-21 | 2020-11-13 | 邢力丹 | Neck strutting arrangement and nursing wheelchair thereof |
| CN112043483A (en) * | 2020-10-13 | 2020-12-08 | 上海理工大学 | A new type of wearable lumbar traction device |
| CN113081434A (en) * | 2021-04-22 | 2021-07-09 | 连云港市第一人民医院 | Lumbar vertebra wearing protection device for hematology department |
| CN114668626A (en) * | 2022-02-15 | 2022-06-28 | 燕山大学 | A rigid-flexible coupling waist rehabilitation robot with adjustable pose |
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| CN111035491A (en) * | 2020-01-06 | 2020-04-21 | 林雪林 | Spinal column auxiliary treatment device for spinal surgery |
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| CN111658437A (en) * | 2020-07-01 | 2020-09-15 | 唐山海容机器人应用技术研究院 | A wearable lumbar spine rehabilitation training device |
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| CN112043483A (en) * | 2020-10-13 | 2020-12-08 | 上海理工大学 | A new type of wearable lumbar traction device |
| CN112043483B (en) * | 2020-10-13 | 2021-09-24 | 上海理工大学 | A new type of wearable lumbar traction device |
| CN113081434A (en) * | 2021-04-22 | 2021-07-09 | 连云港市第一人民医院 | Lumbar vertebra wearing protection device for hematology department |
| CN113081434B (en) * | 2021-04-22 | 2022-05-17 | 连云港市第一人民医院 | Lumbar vertebra wearing protection device for hematology department |
| CN114668626A (en) * | 2022-02-15 | 2022-06-28 | 燕山大学 | A rigid-flexible coupling waist rehabilitation robot with adjustable pose |
| CN114668626B (en) * | 2022-02-15 | 2023-06-20 | 燕山大学 | A pose-adjustable rigid-flexible coupling waist rehabilitation robot |
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