CN108837314B - Robot - Google Patents
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- CN108837314B CN108837314B CN201810423412.4A CN201810423412A CN108837314B CN 108837314 B CN108837314 B CN 108837314B CN 201810423412 A CN201810423412 A CN 201810423412A CN 108837314 B CN108837314 B CN 108837314B
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- physiotherapy
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- 238000000554 physical therapy Methods 0.000 claims abstract description 73
- 230000000694 effects Effects 0.000 claims description 12
- 238000010438 heat treatment Methods 0.000 claims description 11
- 229910010293 ceramic material Inorganic materials 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 210000001519 tissue Anatomy 0.000 description 18
- 238000011282 treatment Methods 0.000 description 15
- 239000000919 ceramic Substances 0.000 description 9
- 238000002560 therapeutic procedure Methods 0.000 description 8
- 229910052581 Si3N4 Inorganic materials 0.000 description 4
- 239000010881 fly ash Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- HQVNEWCFYHHQES-UHFFFAOYSA-N silicon nitride Chemical compound N12[Si]34N5[Si]62N3[Si]51N64 HQVNEWCFYHHQES-UHFFFAOYSA-N 0.000 description 4
- 230000001225 therapeutic effect Effects 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 230000000737 periodic effect Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- HBMJWWWQQXIZIP-UHFFFAOYSA-N silicon carbide Chemical compound [Si+]#[C-] HBMJWWWQQXIZIP-UHFFFAOYSA-N 0.000 description 3
- 229910010271 silicon carbide Inorganic materials 0.000 description 3
- 230000017531 blood circulation Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 208000035240 Disease Resistance Diseases 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 206010020751 Hypersensitivity Diseases 0.000 description 1
- 206010021118 Hypotonia Diseases 0.000 description 1
- 208000026935 allergic disease Diseases 0.000 description 1
- 230000007815 allergy Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000036640 muscle relaxation Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 206010033675 panniculitis Diseases 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000000377 silicon dioxide Substances 0.000 description 1
- 235000012239 silicon dioxide Nutrition 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000004304 subcutaneous tissue Anatomy 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/0625—Warming the body, e.g. hyperthermia treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0658—Radiation therapy using light characterised by the wavelength of light used
- A61N2005/0659—Radiation therapy using light characterised by the wavelength of light used infrared
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention discloses a robot, which belongs to the field of robots and comprises a base, an operating assembly and a movable assembly, wherein the movable assembly is connected with the base and the operating assembly; the base is in contact with the ground, and enables the robot to move; the operating component is provided with a workbench which is of an arc-shaped structure and is in threaded connection with the physiotherapy component (6); the movable assembly (2) is composed of a plurality of movable rods and provides at least two rotational degrees of freedom.
Description
Technical Field
The invention relates to the field of rehabilitation physiotherapy.
Background
Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
Disclosure of Invention
The invention aims to: aiming at the existing problems, the physiotherapy rehabilitation robot comprises a base, an operation assembly and a movable assembly, wherein the movable assembly is connected with the base and the operation assembly;
the base is in contact with the ground, and enables the robot to move;
the operation subassembly be equipped with the workstation, the workstation is the arc structure, its threaded connection has hot physiotherapy subassembly, hot physiotherapy subassembly includes:
the surface of the hollow screw is provided with threads and is in threaded connection with the workbench, one end inside the hollow screw is provided with a hollow part, the other end of the hollow screw is provided with a hollow channel, the hollow channel is communicated with the hollow part, and the hollow channel and the hollow part form a hollow structure penetrating through the hollow screw;
the telescopic rod is inserted into the hollow part through the hollow channel, a nut is sleeved in the hollow part, the telescopic rod is in threaded connection with the nut, and a fixing part is arranged on the telescopic rod;
a spring located between the fixed portion and the hollow screw, the spring having a cross-section greater than the cross-section of the hollow passage such that the spring is confined outside the hollow passage, the spring being in a compressed state when the nut is fixed;
the physiotherapy sheet is fixedly connected with the telescopic rod, a heating wire connected with an external power supply is arranged in the physiotherapy sheet, and the physiotherapy sheet is made of ceramic materials;
the movable assembly is composed of a plurality of movable rods and provides at least two rotational degrees of freedom.
The physiotherapy rehabilitation robot can carry out thermal medical treatment on a human body, can control the extrusion force of the medical treatment piece on the skin of the human body within a certain range (not too large nor too small), and prevents insufficient physiotherapy and local overheating burning of the skin. And the ceramic material is found to have excellent effect when being used as the physical therapy sheet, in particular to the silicon carbide ceramic material. As the improvement, the operation assembly also comprises a movable table and a power table, wherein each working table is in threaded connection with 2 thermal physiotherapy assemblies, and the power table controls the movable table to swing around the arc of the arc structure of the working table.
As an improvement, an arc-shaped groove is arranged on a workbench of an arc-shaped structure, the arc-shaped groove and the workbench arc-shaped structure are concentric, an arc-shaped strip matched with the arc-shaped groove is arranged on a movable table, the movable table rotates around the arc center of the workbench arc-shaped groove due to the matching of the arc-shaped strip and the arc-shaped groove, a first movable groove is arranged on the movable table, first screw rods distributed along the length direction of the first movable groove are arranged in the first movable groove, the first screw rods are driven by a first motor, first movable blocks are arranged on the first screw rods, the first movable blocks are in threaded connection with the first screw rods, first connecting parts are fixedly connected on the first movable blocks, infrared physiotherapy parts are fixedly connected on the first connecting parts, the infrared physiotherapy parts face the arc center direction of the arc-shaped groove, and the movable table enables the infrared physiotherapy parts to reciprocate;
the power table provides power for the movable table, so that the movable table can drive the infrared physiotherapy part to rotate around the arc center direction of the arc-shaped groove.
As an improvement, the infrared physiotherapy piece comprises a fixed seat fixedly connected with the first connecting part, a long rod fixedly connected with the fixed seat and an infrared instrument positioned at the tail end of the long rod.
As an improvement, the movable assembly comprises a first movable rod fixedly connected with the base, a second movable rod hinged with the first movable rod, a third movable rod hinged with the second movable rod, and a fourth movable rod hinged with the third movable rod, the fourth movable rod is fixedly connected with the power station, and three hinged shafts of the four movable rods are mutually vertical.
As an improvement, the power table comprises a base fixedly connected with the workbench and a power part positioned on the base, a second movable groove is arranged in the power part, a second screw rod is arranged in the first movable groove and connected with a second motor, a second movable block in threaded connection with the second screw rod is arranged on the second screw rod, a second connecting part is fixedly connected with the second movable block, and a clamping column is arranged on the second connecting part; the movable table is provided with a clamping groove, and the clamping column is clamped into the clamping groove and can reciprocate along the length direction of the clamping groove.
Drawings
FIG. 1 is a general schematic of the present invention;
FIG. 2 is a schematic view of a movable assembly;
FIG. 3 is a schematic view of a work table;
FIG. 4 is a bottom of the table;
FIG. 5 is a schematic view of a mobile station;
FIG. 6 is a schematic view of a power station;
FIG. 7 is a bottom of the table;
FIG. 8 is a schematic view of a thermal therapy assembly;
FIG. 9 is a schematic view of a thermal therapy assembly;
FIG. 10 is a schematic view of a hollow screw;
FIG. 11 is a schematic cross-sectional view of a thermal therapy assembly;
the labels in the figure are: 1-a base, 2-a movable assembly, 201-a first movable bar, 202-a second movable bar, 203-a third movable bar, 204-a fourth movable bar, 3-a worktable, 301-an arc-shaped groove, 4-a movable table, 401-an arc-shaped bar, 402-a card slot, 403-a first movable groove, 404-a first screw, 405-a first motor, 406-a first movable block, 407-a first connecting portion, 5-a power table, 501-a base, 502-a power member, 503-a second movable groove, 504-a second screw, 505-a second motor, 506-a second movable block, 507-a second connecting portion, 508-a card column, 6-a thermal physiotherapy assembly, 601-a telescopic bar, 602-a physiotherapy sheet, 603-a fixed portion, 604-a spring, 605-hollow screw rod, 606-hollow part, 607-nut, 608-hollow channel, 7-infrared physiotherapy piece, 701-fixing seat, 702-long rod, 703-infrared instrument.
Detailed Description
In the hospital treatment, there are three treatment divisions, and seven nursing divisions, which are the most important measures for the whole treatment and rehabilitation process. The infrared therapeutic apparatus is an indispensable important tool in nursing work. The infrared ray can penetrate through the clothes to act on the treatment part. Can penetrate through the skin to directly generate heat effect on muscles, subcutaneous tissues and the like. Accelerating blood circulation, increasing metabolism, reducing pain, increasing muscle relaxation, and generating massage effect. The infrared ray is mainly used for treating diseases because the infrared ray can mobilize the disease resistance of the human body from different levels. The existing infrared therapeutic apparatus is characterized in that an infrared head faces to a corresponding part of a human body, and the therapeutic apparatus is basically motionless in the process of physical therapy and has poor physical therapy effect. Meanwhile, some methods adopt thermal physiotherapy, and a heat source is directly arranged on human tissues.
Infrared therapy apparatus is facing to human corresponding part with infrared instrument head, in the middle of the physiotherapy process, the therapeutic instrument is motionless basically, because infrared ray of infrared therapy apparatus is through penetrating skin arrival appointed position, if not right always, lead to can penetrating at fixed skin, make this department skin extremely uncomfortable, and simultaneously, the wound equipotential of physiotherapy is also very limited, the physiotherapy effect is not good, simultaneously when using, the infrared that the tissue received is fixed, produce local overheat on the one hand, influence the physiotherapy effect on the contrary.
In order to solve the problems in the prior art, the embodiment discloses a rehabilitation robot capable of rotating around a fixed tissue and performing reciprocating motion, wherein the reciprocating motion refers to the fact that the distance between the head of an infrared instrument and the tissue can be changed ceaselessly.
In order to achieve the effect, the invention discloses an infrared treatment rehabilitation robot, which comprises:
a base 1, which is in contact with the ground and enables the robot to move, wherein the ground of the base is planar, although the base 1 can also be provided with rollers (not shown in the figure);
the operation assembly is used for carrying out infrared physiotherapy on tissues, an infrared instrument 703 is installed on the operation assembly, the infrared instrument is connected with an external power supply through a conducting wire, the operation assembly is of a conventional design and not shown in the figure, and only a plurality of electric wires are connected to the infrared instrument;
the movable assembly 2 consists of a plurality of movable rods, provides at least two rotational degrees of freedom, and can adjust the position of the infrared instrument according to the position of human tissue (in particular to tissue for receiving infrared treatment, the same below);
the operating assembly comprises a workbench 3, a movable table 4 and a power table 5, wherein an arc-shaped groove 301 is formed in the workbench 3, an arc-shaped strip 401 matched with the arc-shaped groove 301 is arranged on the movable table, the movable table rotates around the arc center of the arc-shaped groove of the workbench due to the matching of the arc-shaped strip and the arc-shaped groove, a first movable groove 403 is formed in the movable table, first screw rods 404 distributed along the length direction of the first movable groove are arranged in the first movable groove and driven by a first motor 405, a first movable block is arranged on each first screw rod and in threaded connection with the first screw rods, a first connecting portion 407 is fixedly connected to each first movable block, an infrared physiotherapy part 7 is fixedly connected to each first connecting portion, the infrared physiotherapy part faces to the arc center of the arc-shaped groove, and the movable table enables the infrared physiotherapy part 7 to reciprocate along the direction of the first movable groove;
The power table 5 provides power for the movable table, so that the movable table can drive the infrared physiotherapy part to rotate around the arc center direction of the arc-shaped groove, and the arc center refers to a central shaft where the circle center of the arc-shaped groove is located. During treatment, the human body tissues are positioned in the arc center part, and during treatment, the infrared physiotherapy part periodically rotates around the arc center under the driving of the power table, and meanwhile, the movable table promotes the infrared physiotherapy part (7) to reciprocate along the direction of the first movable groove; the distance between the infrared instrument and human tissue can be periodically changed, and the actual moving period and the moving distance can be adjusted according to the tissue condition and the doctor experience. The combination of the two periodic treatments. On one hand, the treatment effect of the human tissue is improved by periodically changing the infrared intensity of the human tissue after radiation (after infrared radiation, the human tissue has short-time recovery); on the other hand, the infrared treatment can be continuously received by human tissues, particularly human tissues needing treatment, the human skin area of the infrared radiation is wider, large-area blood circulation around the human tissues can be promoted, the damage to the human tissues is less, and the treatment effect is good. Furthermore, the thermal physiotherapy component is matched with the periodic therapy to perform fixed thermal physiotherapy on the surfaces of key blood vessel nerve skins and the like, so that the comprehensive effect is good.
In order to increase the reciprocating space of the infrared apparatus, in a preferred embodiment, the infrared physiotherapy part 7 includes a fixing base 701 fixedly connected with the first connecting portion 407, a long rod 702 fixedly connected with the fixing base, and an infrared apparatus 703 located at the end of the long rod, where the fixing connection may be nut fixing, snap connection, welding, or the like.
In order to provide the degree of freedom of the infrared instrument, in a preferred embodiment, the movable assembly 2 includes a first movable rod 201 fixedly connected with the base, a second movable rod 202 hinged with the first movable rod, a third movable rod 203 hinged with the second movable rod, a fourth movable rod 204 hinged with the third movable rod, and the fourth movable rod is fixedly connected with the power station, three hinge shafts of the four movable rods are mutually perpendicular, the cooperation can enable the infrared instrument to have at least three rotational degrees of freedom, and the infrared instrument is easy to operate when in use.
In order to enable the movable table to rotate around the arc center of the worktable, the rotation must be non-circular and periodic, and how to enable the movable table to periodically swing around the arc center is important, in one embodiment, the power table 5 includes a base 501 fixedly connected with the worktable, and a power part 502 positioned on the base 501, a second movable groove 503 is arranged in the power part, a second screw rod 504 is arranged in the first movable groove, the second screw rod is connected with a second motor 505, a second movable block 506 in threaded connection with the second screw rod is arranged on the second screw rod, a second connecting part 507 is fixedly connected with the second movable block, and a clamping column 508 is arranged on the second connecting part; the movable table is provided with a clamping groove 402, and a clamping column 508 is clamped in the clamping groove and can reciprocate along the length direction of the clamping groove, so that the movable table is controlled to swing around the arc center of the workbench.
The thermal medical component needs to be in contact with the skin of a human body, and meanwhile, the contact force needs to be controlled, otherwise, the contact is too tight, so that the heat transfer is too large, the surface temperature of the skin of the human body is increased, and the skin is also burnt in severe cases. Thus, in order to simultaneously provide a greater contact force, but to control the contact force to a certain extent, in a preferred embodiment, as shown in figures 8-11, the thermal therapy assembly 6 comprises:
the surface of the hollow screw rod 605 is provided with threads and is in threaded connection with the workbench, one end inside the hollow screw rod is provided with a hollow part 606, the other end of the hollow screw rod is provided with a hollow channel 608, the hollow channel is communicated with the hollow part, and the hollow channel and the hollow part form a hollow structure penetrating through the hollow screw rod;
the telescopic rod 601 is characterized in that a part of the telescopic rod is inserted into the hollow part 606 through the hollow channel, a nut 607 is sleeved in the hollow part, the telescopic rod is in threaded connection with the nut, and a fixing part 603 is arranged on the telescopic rod;
a spring 604, which is located between the fixing portion 603 and the hollow screw, and has a cross section larger than that of the hollow passage, so that the spring is restricted outside the hollow passage, and the spring is in a compressed state under the fixation of the nut 607;
the physiotherapy piece 602 is fixedly connected with the telescopic rod, and a heating wire connected with an external power supply is arranged inside the physiotherapy piece.
Taking fig. 11 as an example for explanation, under normal conditions, because the nut is screwed at the bottom of the hollow part, the spring 604 is in a compressed state, assuming that the compression force of the spring is X, the force of the nut and the bottom of the hollow part is also X (without considering gravity, etc.), the hollow screw rod is rotated, the physical therapy sheet is in contact with the human body, when the contact force is smaller than X, the hollow screw rod and the telescopic rod 601 do not move relatively, and when the contact force is larger than X, the telescopic rod and the hollow screw rod move relatively, so that the whole body contracts, the excessive extrusion force of the physical therapy sheet on the skin of the human body is relieved, the skin of the human body is protected, and.
In the preferred scheme of the physical therapy sheet, the physical therapy sheet can adopt a rubber physical therapy sheet and a ceramic physical therapy sheet or a metal physical therapy sheet or a composite physical therapy sheet, in one scheme, the rubber physical therapy sheet can adopt rubber such as silica gel, heating wires are arranged in the rubber, and a silicon nitride ceramic layer with the thickness of 0.1-2mm covers the periphery of the heating wires. The rubber physical therapy piece has large contact area with a human body, is elastic and good in contact feeling, and the silicon nitride ceramic layer can ensure that the heating wire can be fully radiated into rubber without influencing the rubber.
In another scheme, the physiotherapy sheet adopts a ceramic layer, a heating wire layer is arranged in the ceramic layer, the ceramic layer has the advantages of difficulty in causing allergy and no generation of peculiar smell, the surface can be processed to be smooth, but the hardness is high, the contact feeling is not good, and the thermal physiotherapy assembly can fully solve the problem of contact feeling of the cross section but has a certain problem of contact feeling. In a preferred scheme, the ceramic material adopts 100 parts by weight of silicon carbide, 15 parts by weight of silicon nitride, 10 parts by weight of silicon dioxide and Fe2O310 parts of CaO10 parts, 2 parts of fly ash and 10 parts of rubber powder, wherein the fly ash is embedded into the rubber powder on the premise of ensuring the heat resistance of a ceramic material of the fly ash, the rubber powder is prepared by crushing waste rubber, and the embedding mode is adoptedAnd (3) rolling the mixture of the rubber powder and the fly ash by using a mechanical force, and then mixing all the raw materials for forming. The physiotherapy sheet prepared by the scheme has good smoothness, can keep a certain elasticity on one hand, is not easy to damage, and has good contact feeling with skin.
The metal physiotherapy sheet is internally provided with heating wires, the heating wires and the metal bracket are provided with insulating heat conduction layers (such as ceramic layers, the thickness is preferably 1-3 mm), and the metal layer has the advantages of good heat dissipation performance on a human body and poor contact feeling.
In some preferred schemes, also can adopt compound physiotherapy piece, for example the surface is equipped with the rubber layer, and inside is the ceramic layer, and the ceramic is inside to be equipped with heating wire, and this scheme has combined the advantage of rubber and pottery, and it is effectual to generate heat and touch simultaneously feels good.
Claims (1)
1. A physical therapy rehabilitation robot comprises a base, an operating component and a movable component, wherein the movable component is connected with the base and the operating component;
the base is in contact with the ground, and enables the robot to move;
the operation subassembly be equipped with workstation, activity platform and power platform, the workstation is the arc structure, its threaded connection has hot physiotherapy subassembly, hot physiotherapy subassembly includes:
the surface of the hollow screw is provided with threads and is in threaded connection with the workbench, one end inside the hollow screw is provided with a hollow part, the other end of the hollow screw is provided with a hollow channel, the hollow channel is communicated with the hollow part, and the hollow channel and the hollow part form a hollow structure penetrating through the hollow screw;
the telescopic rod is inserted into the hollow part through the hollow channel, a nut is sleeved in the hollow part, the telescopic rod is in threaded connection with the nut, and a fixing part is arranged on the telescopic rod;
a spring located between the fixed portion and the hollow screw, the spring having a cross-section greater than the cross-section of the hollow passage such that the spring is confined outside the hollow passage, the spring being in a compressed state when the nut is fixed;
the physiotherapy sheet is fixedly connected with the telescopic rod, a heating wire connected with an external power supply is arranged in the physiotherapy sheet, and the physiotherapy sheet is made of ceramic materials;
the movable table is provided with an arc-shaped groove, the arc-shaped groove and an arc-shaped structure of the movable table are concentric, the movable table is provided with an arc-shaped strip matched with the arc-shaped groove, the movable table rotates around the arc center of the arc-shaped groove of the movable table due to the matching of the arc-shaped strip and the arc-shaped groove, the movable table is provided with a first movable groove, a first screw rod distributed along the length direction of the first movable groove is arranged in the first movable groove, the first screw rod is driven by a first motor, a first movable block is arranged on the first screw rod and in threaded connection with the first screw rod, a first connecting part is fixedly connected to the first movable block, an infrared physiotherapy part is fixedly connected to the first connecting part, the infrared physiotherapy part faces the arc center direction of the arc-shaped groove, and the movable table enables the infrared;
the power table provides power for the movable table, so that the movable table can drive the infrared physiotherapy part to rotate around the arc center direction of the arc-shaped groove;
the infrared physiotherapy piece comprises a fixed seat fixedly connected with the first connecting part, a long rod fixedly connected with the fixed seat and an infrared instrument positioned at the tail end of the long rod;
the movable assembly comprises a first movable rod fixedly connected with the base, a second movable rod hinged with the first movable rod, a third movable rod hinged with the second movable rod, and a fourth movable rod hinged with the third movable rod, the fourth movable rod is fixedly connected with the power station, and three hinged shafts hinged with the four movable rods are mutually vertical;
the power table comprises a base fixedly connected with the workbench and a power part positioned on the base, a second movable groove is formed in the power part, a second screw rod is arranged in the first movable groove and connected with a second motor, a second movable block in threaded connection with the second screw rod is arranged on the second screw rod, a second connecting part is fixedly connected with the second movable block, and a clamping column is arranged on the second connecting part; the movable table is provided with a clamping groove, and the clamping column is clamped into the clamping groove and can reciprocate along the length direction of the clamping groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423412.4A CN108837314B (en) | 2018-05-06 | 2018-05-06 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423412.4A CN108837314B (en) | 2018-05-06 | 2018-05-06 | Robot |
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| CN108837314A CN108837314A (en) | 2018-11-20 |
| CN108837314B true CN108837314B (en) | 2020-01-07 |
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| CN201810423412.4A Expired - Fee Related CN108837314B (en) | 2018-05-06 | 2018-05-06 | Robot |
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| CN110575260B (en) * | 2019-10-21 | 2022-05-13 | 重庆师范大学 | Operation robot operating device |
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| CN204446542U (en) * | 2015-01-30 | 2015-07-08 | 徐世泉 | A kind of Neurology Department limbs massage machine |
| CN105920740A (en) * | 2016-03-29 | 2016-09-07 | 张洪梅 | General internal medicine special thermal therapy instrument |
| CN106265052A (en) * | 2016-08-11 | 2017-01-04 | 广西大学 | A kind of Electromechanical Control moxa roll circular motion treatment device for cervical vertebra disease |
| CN206659992U (en) * | 2016-12-15 | 2017-11-24 | 山东中医药大学 | A kind of Chinese medicine thermotherapy device |
| CN107951532A (en) * | 2017-11-03 | 2018-04-24 | 师新虎 | A kind of medical robot bone drill end clamping apparatus |
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| CN108837314A (en) | 2018-11-20 |
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