CN113197753A

CN113197753A - Telescopic therapeutic robot for spinal rehabilitation and using method

Info

Publication number: CN113197753A
Application number: CN202110478542.XA
Authority: CN
Inventors: 不公告发明人
Original assignee: Rui Wenli
Current assignee: Shaanxi Tianrun Shangjian Medical Technology Co ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-08-03
Anticipated expiration: 2041-04-30
Also published as: CN113197753B

Abstract

The invention discloses a telescopic therapeutic robot for spinal rehabilitation and a use method thereof, comprising an L-shaped base, the top end of the L-shaped base is provided with a bottom frame, the top end of the bottom frame is provided with a middle frame, the top end of the middle frame is provided with a top frame, a middle driving mechanism is arranged among the L-shaped base, the bottom frame and the middle frame, a top driving mechanism matched with the middle driving mechanism is arranged between the middle frame and the top frame, one side of the bottom end of the bottom frame is provided with a bottom drive mechanism matched with the middle drive mechanism for use, by arranging the middle driving mechanism, the top driving mechanism, the bottom driving mechanism and the driving motor which are mutually matched, the distance among the L-shaped base, the middle frame and the bottom frame can be synchronously and flexibly adjusted, and the distance between the middle frame and the top frame can be synchronously adjusted according to requirements, thereby adapt to different height users ' demand, make things convenient for different height users ' laminating to use, and then effectively improved whole treatment robot's flexibility and result of use.

Description

Telescopic therapeutic robot for spinal rehabilitation and using method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a telescopic type therapeutic robot for spinal rehabilitation and a using method thereof.

Background

The spine is also called as spine, is a pillar of the body, is positioned in the middle of the back, the upper end of the spine is connected with the skull, and the lower end of the spine reaches the tip of the coccyx; the spine is divided into five sections of neck, chest, waist, sacrum and tail, the upper part is long and can move, and the spine is similar to a bracket and is hung on the chest wall and the abdominal wall; the lower part is short and is relatively fixed, so that the weight of the body and the shock received by the body are transmitted to the lower limbs; the spine is composed of vertebrae and intervertebral discs, and is a relatively flexible and mobile structure. The shape of the spine can vary considerably with the kinematic loads of the body, the movements of the spine being dependent on the integrity of the intervertebral discs, the harmony between the articular processes of the relevant vertebrae;

when the existing clinical treatment is used for spinal rehabilitation, the spinal rehabilitation treatment robot can be generally used for spinal auxiliary rehabilitation, when the existing spinal rehabilitation treatment robot is used, all parts of a user are generally supported by all parts of the user through all parts of fixing frames, so that the whole spine of the user is supported, the spinal rehabilitation treatment robot is used for the auxiliary treatment, however, the structures of all parts of the fixing frames are fixed, the telescopic adjustment cannot be carried out, the distance between all parts of the fixing frames cannot be flexibly changed according to the requirements of users with different heights, the flexibility is low, and the spinal rehabilitation effect of the whole treatment robot is influenced.

Disclosure of Invention

The invention aims to provide a retractable therapeutic robot for spinal rehabilitation and a using method thereof, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a telescopic spine rehabilitation treatment robot comprises an L-shaped base, wherein the top end of the L-shaped base is provided with a bottom frame, the top end of the bottom frame is provided with a middle frame, the top end of the middle frame is provided with a top frame, a middle driving mechanism is arranged among the L-shaped base, the bottom frame and the middle frame, a top driving mechanism matched with the middle driving mechanism for use is arranged between the middle frame and the top frame, and one side of the bottom end of the bottom frame is provided with a bottom driving mechanism matched with the middle driving mechanism for use;

the bottom end of the L-shaped base is fixedly provided with a support frame, the bottom end of the support frame is provided with four groups of automatic travelling wheels distributed in a rectangular array, and one side of the support frame is fixedly provided with a driving motor matched with the automatic travelling wheels;

a protective pad is fixedly arranged on one side of the top end of the L-shaped base, and preferably, side blocking supports which are symmetrically distributed are fixedly arranged on the top end of the L-shaped base;

one side middle part of L type base has the waist mount through buffer beam fixed mounting, there is the belly mount one side middle part of underframe through buffer beam fixed mounting, there is the chest mount one side middle part of center through buffer beam fixed mounting, there are two sets of shoulder mounts that are the symmetric distribution one side upper end of center through buffer beam fixed mounting, there is the head mount one side middle part of roof-rack through buffer beam fixed mounting.

Preferably, well drive mechanism includes first rotation seat and interior jacket seat, interior jacket seat is equipped with and is two sets of up-down symmetric distribution, and is two sets of interior jacket seat respectively with one side looks remote site middle part fixed connection of L type base, center, first rotation seat fixed mounting is in the underframe one side middle part of keeping away from the belly mount, the middle part of first rotation seat is rotated and is inserted and is equipped with double threaded screw, the upper and lower part difference screw thread of double threaded screw is pegged graft in the interior jacket seat that corresponds, double threaded screw's bottom middle part slip card is equipped with flexible guide arm, the activity cover is equipped with tension spring between the top of flexible guide arm and the bottom of double threaded screw.

Preferably, the top and the bottom of underframe all fixed mounting have the first guide bar that is the symmetric distribution, one side that first guide bar is far away from the underframe corresponds the slip joint respectively in the opposite side of L type base, center.

Preferably, the top drive mechanism includes that the second rotates the seat, the second rotates a fixed mounting at one side upper end middle part of frame on the top, the bottom middle part fixing clip that the seat was rotated to the second is equipped with interior screw sleeve, interior screw sleeve's bottom middle part screw thread card is equipped with telescopic screw, telescopic screw's outside bottom activity cover is equipped with the sleeve pipe, the fixed cover in the sheathed tube outside is equipped with the bearing, the card post is installed perpendicularly in outer wall one side of bearing, card post slip joint is at one side middle part of center, sheathed tube bottom fixed mounting has the spliced pole, the bottom middle part fixed mounting of spliced pole has drive card protruding, the protruding outer wall of drive card is equipped with anti-skidding line, double-end screw's top middle part has been seted up and has been used the drive recess with the protruding cooperation of drive card, and the protruding movable joint of drive card in the drive recess.

Preferably, sheathed tube inner wall fixedly connected with is the direction sand grip of symmetric distribution, the guide way that uses with the cooperation of direction sand grip is seted up to telescopic screw's outside bottom, and direction sand grip slip joint is in the guide way that corresponds.

Preferably, a clamping sliding groove matched with the clamping column for use is formed in the middle of one side of the middle frame, the clamping column is clamped in the clamping sliding groove in a sliding mode, a micro telescopic rod is fixedly mounted on the inner lower wall of the clamping sliding groove, and the output end of the micro telescopic rod is perpendicular to one side of the clamping column.

Preferably, the middle part of the top end of the middle frame is fixedly provided with a second guide rod, and the top of the second guide rod is slidably clamped in the top frame.

Preferably, end drive mechanism includes electric telescopic handle, electric telescopic handle's one end and driving motor's output fixed mounting, electric telescopic handle's output fixed mounting has the pivot, electric telescopic handle's one end fixed mounting is kept away from in the pivot has the drive round platform, the bottom fixed mounting of flexible guide arm has the driven round platform that uses with the cooperation of drive round platform, the equal fixed cover in surface of drive round platform and driven round platform is equipped with the friction gum cover.

Preferably, the multiunit worker's groove of having seted up with automatic travelling wheel cooperation use in the support frame, the equal fixed mounting in top of automatic travelling wheel has the direction rack bar, direction rack bar activity joint is in the one side that corresponds worker's groove, fixed mounting has first spring between the top of direction rack bar and the interior upper wall in worker's groove, the equal slip card of opposite side in worker's groove is equipped with the buffering rack, the middle part in worker's groove all rotates and installs multiunit buffering gear, multiunit buffering gear engagement is connected between corresponding direction rack bar and buffering rack, the top of buffering rack and the equal fixed mounting in bottom have the second spring.

A using method of a retractable therapeutic robot for spinal rehabilitation comprises the following steps,

firstly, a user sits on an L-shaped base to enable the hip to be placed on a protective pad, then the distance among the L-shaped base, a bottom frame, a middle frame and a top frame is flexibly changed according to the requirements of users with different heights, and the distance between a driving circular truncated cone and a driven circular truncated cone is flexibly changed by controlling and starting an electric telescopic rod;

when the driving round table is contacted with the driven round table, the driving motor is started to drive the electric telescopic rod and the rotating shaft to rotate, and finally the distance between the waist fixing frame, the abdomen fixing frame, the chest fixing frame and the two shoulder fixing frames is changed synchronously so as to meet the requirements of users with different heights;

step three, the distance between the middle frame and the top frame can be synchronously adjusted according to requirements, the micro telescopic rod is controlled and started, the clamping column is driven to move up and down in the clamping sliding groove, so that the sleeve is driven to slide up and down at the bottom of the telescopic screw rod, and finally the distance between the chest fixing frame and the head fixing frame is changed to meet the requirements of users with different heights;

and fourthly, the user can drive the automatic travelling wheel to rotate by starting the driving motor, so that the whole treatment robot is driven to walk, the user is assisted to move the position, and the distance between the driving circular truncated cone and the driven circular truncated cone needs to be changed during the period, so that the driving circular truncated cone is separated from the driven circular truncated cone.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the distance among the L-shaped base, the middle frame and the bottom frame can be synchronously and flexibly adjusted by arranging the middle drive mechanism, the top drive mechanism, the bottom drive mechanism and the drive motor which are mutually matched, so that the distance among the waist fixing frame, the abdomen fixing frame, the chest fixing frame and the two groups of shoulder fixing frames can be changed, the distance between the middle frame and the top frame can be synchronously adjusted according to requirements, the distance between the chest fixing frame and the head fixing frame can be further changed, the requirements of users with different heights can be met, the fitting use of the users with different heights can be facilitated, and the flexibility and the use effect of the whole treatment robot can be effectively improved.

2. The driving motor is started for driving the automatic travelling wheel to rotate, so that the whole treatment robot is driven to walk, a user is assisted to move the position, and in the period, the distance between the driving circular truncated cone and the driven circular truncated cone needs to be changed, so that the driving circular truncated cone and the driven circular truncated cone are separated.

3. Through setting up the protection pad, the user protects user's buttock when sitting the use to improved whole treatment robot's result of use, and set up the side and keep off the support, spacing to user's both sides, thereby improved whole treatment robot's safety in utilization.

4. The user is sitting when using, and the support frame is stable to move down to the drive direction rack bar shifts up, moves down, extrudees the second spring of downside and the second spring of tensile upside, through the effect of first spring, second spring, cushions automatic driving wheel, thereby cushions whole robot and user, and then has effectively promoted the comfortable effect when the user uses, and has improved the result of use of whole robot.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view showing a connection of a part of the structure of the present invention;

FIG. 3 is a schematic structural connection diagram of the middle drive mechanism according to the present invention;

FIG. 4 is a schematic structural connection diagram of the top drive mechanism of the present invention;

FIG. 5 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;

FIG. 6 is a schematic structural connection diagram of the bottom drive mechanism of the present invention;

FIG. 7 is a schematic view of the structural connection of the double-threaded screw and the telescopic guide rod according to the present invention;

FIG. 8 is a schematic plan view showing the connection between the support frame and the self-propelled wheels according to the present invention.

In the figure: 1. an L-shaped base; 2. a bottom frame; 3. a middle frame; 4. a top frame; 5. a middle driving mechanism; 6. a top drive mechanism; 7. a bottom drive mechanism; 8. a support frame; 81. an automatic traveling wheel; 801. a tool-shaped groove; 811. a guide rack bar; 82. a buffer rack; 83. a buffer gear; 841. a first spring; 842. a second spring; 91. a waist fixing frame; 92. an abdomen fixing frame; 93. a chest mount; 94. a shoulder fixing frame; 95. a head mount; 10. a drive motor; 11. a protective pad; 12. a side shield bracket; 21. a first guide bar; 31. a second guide bar; 301. a card chute; 51. a first rotating base; 52. an inner screw sleeve seat; 53. a double-ended screw; 531. a driving groove; 532. a telescopic guide rod; 533. a tension spring; 61. a second rotating base; 62. an inner threaded sleeve; 63. a telescopic screw; 631. a guide groove; 64. a sleeve; 641. a guide convex strip; 65. a bearing; 651. clamping the column; 652. a miniature telescopic rod; 66. connecting columns; 67. driving the clamping boss; 71. an electric telescopic rod; 72. a rotating shaft; 73. driving the circular truncated cone; 74. the driven round platform.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, the present invention provides a technical solution: a retractable vertebra rehabilitation treatment robot comprises an L-shaped base 1, a user can sit on the whole treatment robot conveniently, a bottom frame 2 is arranged at the top end of the L-shaped base 1, a middle frame 3 is arranged at the top end of the bottom frame 2, a top frame 4 is arranged at the top end of the middle frame 3, a middle driving mechanism 5 is arranged among the L-shaped base 1, the bottom frame 2 and the middle frame 3, a top driving mechanism 6 matched with the middle driving mechanism 5 for use is arranged between the middle frame 3 and the top frame 4, and a bottom driving mechanism 7 matched with the middle driving mechanism 5 for use is arranged on one side of the bottom end of the bottom frame 2;

the bottom end of the L-shaped base 1 is fixedly provided with a support frame 8, the bottom end of the support frame 8 is provided with four groups of automatic travelling wheels 81 distributed in a rectangular array, one side of the support frame 8 is fixedly provided with a driving motor 10 matched with the automatic travelling wheels 81 for use, and the driving motor 10 is started for driving the automatic travelling wheels 81 to rotate, so that the whole treatment robot is driven to travel and a user is assisted to move the position, which is the prior art;

a protective pad 11 is fixedly arranged on one side of the top end of the L-shaped base 1, and when a user sits and uses the therapeutic robot, the hip of the user is protected, so that the using effect of the whole therapeutic robot is improved; the top end of the L-shaped base 1 is fixedly provided with symmetrically distributed side baffle brackets 12 for limiting the two sides of a user;

there is waist mount 91 at one side middle part of L type base 1 through buffer beam fixed mounting, a vertebra for the fixed stay user waist, there is belly mount 92 at one side middle part of underframe 2 through buffer beam fixed mounting, a belly spine for the fixed stay user is abdominal, there is chest mount 93 at one side middle part of center 3 through buffer beam fixed mounting, a vertebra for the fixed stay user chest, there are two sets of shoulder mounts 94 that are symmetric distribution at one side upper end of center 3 through buffer beam fixed mounting, a shoulder for the fixed stay user both sides, there is head mount 95 at one side middle part of top frame 4 through buffer beam fixed mounting, a head for the fixed stay user, thereby realize supporting user's whole vertebra, a rehabilitation auxiliary treatment for the vertebra.

The middle driving mechanism 5 comprises a first rotating seat 51 and inner sleeve seats 52, the inner sleeve seats 52 are provided with two groups which are distributed up and down symmetrically, the two groups of inner sleeve seats 52 are respectively and fixedly connected with the middle parts of opposite ends at one side of the L-shaped base 1 and the middle frame 3, the first rotating seat 51 is fixedly arranged at the middle part of one side of the bottom frame 2 far away from the abdomen fixing frame 92, a double-headed screw 53 is rotatably inserted in the middle part of the first rotating seat 51, the upper part and the lower part of the double-headed screw 53 are respectively inserted in the corresponding inner sleeve seats 52 in a threaded manner, a telescopic guide rod 532 is slidably clamped at the middle part of the bottom end of the double-headed screw 53, and a tension spring 533 is movably sleeved between the top of the telescopic guide rod 532 and the bottom end of the double-headed screw 53; rotate through drive double threaded screw 53, change the distance between two sets of interior thread bush seats 52 in a flexible way, and then adjust the distance between L type base 1, center 3 and the underframe 2 in a synchronous and flexible way to adapt to different height users ' demand, make things convenient for different height users ' laminating to use, thereby effectively improved whole treatment robot's flexibility and result of use.

The equal fixed mounting in top and the bottom of underframe 2 has first guide bar 21 that is the symmetric distribution, one side that underframe 2 was kept away from to first guide bar 21 corresponds the slip joint respectively at L type base 1, the opposite side of center 3, adjust L type base 1 in a flexible way, when the distance between center 3 and the underframe 2, first guide bar 21 is at the L type base 1 that corresponds, the flexible slip in center 3, the stability when having improved L type base 1, distance change between center 3 and the underframe 2.

The top driving mechanism 6 comprises a second rotating seat 61, the second rotating seat 61 is fixedly arranged in the middle of the upper end of one side of the top frame 4, an inner threaded sleeve 62 is fixedly clamped in the middle of the bottom end of the second rotating seat 61, an expansion screw 63 is clamped in the middle of the bottom end of the inner threaded sleeve 62 in a threaded manner, a sleeve seat is rotatably sleeved in the middle of the outer side of the expansion screw 63, one side of the sleeve seat is fixedly arranged on the middle frame 3, the expansion screw 63 can rotate on the middle frame 3 through the sleeve seat, the expansion screw 63 can rotate by driving the expansion screw 63, the expansion screw 63 can expand and contract in the inner threaded sleeve 62, so that the distance between the middle frame 3 and the top frame 4 can be flexibly changed to adapt to the requirements of users with different heights, a sleeve 64 is movably sleeved at the bottom of the outer side of the expansion screw 63, the sleeve 64 can slide up and down at the bottom of the expansion screw 63, a bearing 65 is fixedly sleeved on the outer side of the sleeve 64, and the sleeve 64 can rotate in the bearing 65, a clamping column 651 is vertically arranged on one side of the outer wall of the bearing 65, the clamping column 651 is clamped in the middle of one side of the middle frame 3 in a sliding mode, a connecting column 66 is fixedly arranged at the bottom end of the sleeve 64, a driving clamping protrusion 67 is fixedly arranged in the middle of the bottom end of the connecting column 66, anti-skidding threads are arranged on the outer wall of the driving clamping protrusion 67, a driving groove 531 matched with the driving clamping protrusion 67 and used is formed in the middle of the top end of the double-head screw 53, the driving clamping protrusion 67 is movably clamped in the driving groove 531, when the sleeve 64 slides downwards at the bottom of the telescopic screw 63, the driving connecting column 66 moves downwards, so that the driving clamping protrusion 67 is movably clamped in the driving groove 531, so that the connecting post 66 and the sleeve 64 are synchronously driven to rotate by the rotation of the double-headed screw 53, and, conversely, when the sleeve 64 slides up on the bottom of the telescopic screw 63, the driving protrusion 67 is disengaged from the driving groove 531, and the rotation of the double-headed screw 53 cannot drive the connecting column 66 and the sleeve 64 to rotate.

The inner wall fixedly connected with of sleeve pipe 64 is the direction sand grip 641 that the symmetry distributes, and the guide way 631 that uses with the cooperation of direction sand grip 641 is seted up to telescopic screw 63's outside bottom, and the slip joint of direction sand grip 641 has improved sleeve pipe 64 in the gliding stability from top to bottom of telescopic screw 63's outside bottom in the guide way 631 that corresponds to it is spacing to rotate guide sand grip 641 through guide way 631, makes sleeve pipe 64's rotation drive telescopic screw 63 rotate.

The middle part of one side of center 3 is seted up and is seted up the card spout 301 that uses with the cooperation of card post 651, and the card post 651 slip joint in the card spout 301, and the interior lower wall fixed mounting of card spout 301 has miniature telescopic link 652, and the output of miniature telescopic link 652 and one side of card post 651 are installed perpendicularly, through controlling and starting miniature telescopic link 652, drives card post 651 and reciprocates in card spout 301 to drive sleeve pipe 64 slides from top to bottom at telescopic screw 63.

The top middle part fixed mounting of center 3 has second guide bar 31, and the top slip joint of second guide bar 31 is in top frame 4, and when adjusting the distance between center 3 and the top frame 4 in a flexible way, second guide bar 31 slides in top frame 4 is flexible, has improved the stability when the distance changes between center 3 and the top frame 4.

The bottom driving mechanism 7 comprises an electric telescopic rod 71, one end of the electric telescopic rod 71 is fixedly installed with the output end of a driving motor 10, the output end of the electric telescopic rod 71 is fixedly provided with a rotating shaft 72, one end of the rotating shaft 72, which is far away from the electric telescopic rod 71, is fixedly provided with a driving round table 73, the bottom end of a telescopic guide rod 532 is fixedly provided with a driven round table 74 matched with the driving round table 73, the outer surfaces of the driving round table 73 and the driven round table 74 are fixedly sleeved with friction rubber sleeves, the distance between the driving round table 73 and the driven round table 74 is flexibly changed by controlling and starting the electric telescopic rod 71, when the driving round table 73 is contacted with the driven round table 74, the driving motor 10 is started to drive the electric telescopic rod 71 and the rotating shaft 72 to rotate, so as to drive the driving round table 73 and the driven round table 74 to rotate, and the rotation of the driven round table 74 drives the double-head screw 53 and the telescopic guide rod 532 to rotate, on the contrary, when the driving circular table 73 and the driven circular table 74 are not in contact with each other, the double-headed screw 53 and the telescopic guide bar 532 cannot be driven to rotate by starting the driving motor 10.

A plurality of groups of tool grooves 801 matched with the automatic travelling wheels 81 are formed in the supporting frame 8, guide rack rods 811 are fixedly arranged at the top ends of the automatic travelling wheels 81, the guide rack rods 811 are movably clamped at one side corresponding to the tool grooves 801, the guide rack rods 811 can slide up and down in the tool grooves 801, first springs 841 are fixedly arranged between the top ends of the guide rack rods 811 and the inner upper wall of the tool grooves 801, when the guide rack rods 811 slide up and down in the tool grooves 801, the corresponding first springs 841 can be squeezed or stretched to buffer the up and down sliding of the guide rack rods 811, buffer racks 82 are arranged at the other sides of the tool grooves 801 in a sliding and clamping manner, the buffer racks 82 can slide up and down in the tool grooves 801, a plurality of groups of buffer gears 83 are rotatably arranged at the middle parts of the tool grooves 801, the plurality of groups of buffer gears 83 are meshed and connected between the corresponding guide rack rods and buffer gears 82, the top and the bottom of buffering rack 82 all fixed mounting have second spring 842, when buffering rack 82 slides from top to bottom in worker's groove 801, but second spring 842 of extrusion or tensile correspondence, thereby cushion the upper and lower slip of buffering rack 82, the user is when sitting the use, support frame 8 moves down steadily, thereby drive direction rack pole 811 shifts up, extrude first spring 841 and synchronous drive multiunit buffering gear 83 rotates, and then drive buffering rack 82 and move down, extrude the second spring 842 of downside and stretch the second spring 842 of upside, through first spring 841, the effect of second spring 842, cushion automatic travelling wheel 81, thereby cushion whole robot and user, and then effectively promoted the comfortable effect of user when using, and improved the result of use of whole robot.

firstly, a user sits on an L-shaped base 1 to place the hip on a protective pad 11, then the distance between the L-shaped base 1, a bottom frame 2, a middle frame 3 and a top frame 4 is flexibly changed according to the requirements of users with different heights, and the distance between a driving circular truncated cone 73 and a driven circular truncated cone 74 is flexibly changed by controlling and starting an electric telescopic rod 71;

step two, when the driving round table 73 is contacted with the driven round table 74, the driving motor 10 is started to drive the electric telescopic rod 71 and the rotating shaft 72 to rotate, and finally the distance between the waist fixing frame 91, the abdomen fixing frame 92, the chest fixing frame 93 and the two groups of shoulder fixing frames 94 is changed synchronously so as to adapt to the requirements of users with different heights;

step three, the distance between the middle frame 3 and the top frame 4 can be synchronously adjusted according to requirements, the micro telescopic rod 652 is controlled and started, the clamping column 651 is driven to move up and down in the clamping sliding groove 301, so that the sleeve 64 is driven to slide up and down at the bottom of the telescopic screw 63, and finally the distance between the chest fixing frame 93 and the head fixing frame 95 is changed to meet the requirements of users with different heights;

and step four, the user can drive the automatic travelling wheel 81 to rotate by starting the driving motor 10, so that the whole treatment robot is driven to walk, the user is assisted to move the position, and in the period, the distance between the driving circular truncated cone 73 and the driven circular truncated cone 74 needs to be changed, so that the driving circular truncated cone 73 is separated from the driven circular truncated cone 74.

The working principle is as follows: the invention relates to a telescopic therapeutic robot for spinal rehabilitation and a using method thereof, when in use, a user sits on an L-shaped base 1 to place the buttocks on a protective pad 11, at the moment, a support frame 8 moves downwards stably to drive a guide rack bar 811 to move upwards, a first spring 841 is extruded and a plurality of groups of buffer gears 83 are synchronously driven to rotate so as to drive a buffer rack 82 to move downwards, a second spring 842 at the lower side is extruded and a second spring 842 at the upper side is stretched, an automatic travelling wheel 81 is buffered through the action of the first spring 841 and the second spring 842, so that the whole robot and the user are buffered, the comfort effect when the user uses the robot is effectively improved, the using effect of the whole robot is improved, then, the distances among the L-shaped base 1, the bottom frame 2, the middle frame 3 and the top frame 4 are flexibly changed according to the requirements of different users, the distance between the driving round table 73 and the driven round table 74 is flexibly changed by controlling and starting the electric telescopic rod 71, when the driving round table 73 is contacted with the driven round table 74, the electric telescopic rod 71 and the rotating shaft 72 are driven to rotate by starting the driving motor 10, so that the driving round table 73 and the driven round table 74 are driven to rotate, the double-headed screw 53 and the telescopic guide rod 532 are driven to rotate by the rotation of the driven round table 74, the distance between the two groups of inner sleeve seats 52 is flexibly changed by driving the double-headed screw 53 and the telescopic guide rod 532, further, the distance between the L-shaped base 1, the middle frame 3 and the bottom frame 2 is synchronously and flexibly adjusted, so that the distances between the waist fixing frame 91, the abdomen fixing frame 92, the chest fixing frame 93 and the two groups of shoulder fixing frames 94 are synchronously changed, the requirements of users with different heights are met, and the heights of the users with different heights are convenient to use, thereby effectively improving the flexibility and the use effect of the whole treatment robot, at the moment, the distance between the double-head screw 53 and the telescopic guide rod 532 is changed, simultaneously, the distance between the middle frame 3 and the top frame 4 can be synchronously adjusted according to the requirement, the micro telescopic rod 652 is controlled and started, the driving clamping column 651 moves up and down in the clamping sliding groove 301, thereby the driving sleeve 64 slides up and down at the bottom of the telescopic screw 63, when the sleeve 64 slides down at the bottom of the telescopic screw 63, the driving connecting column 66 moves down, the driving clamping protrusion 67 is movably clamped in the driving groove 531, thereby the connecting column 66 and the sleeve 64 can be synchronously driven to rotate by the rotation of the double-head screw 53, the rotation of the guiding protrusion 641 is limited by the guide groove 631, the telescopic screw 63 is driven to rotate by the rotation of the sleeve 64, the telescopic screw 63 can be stretched in the inner screw sleeve 62, thereby the distance between nimble center 3 and the top frame 4 that changes, and then change the distance between chest mount 93 and the head mount 95, in order to adapt to different height user's demand, subsequently, support user's whole vertebra through using waist mount 91, belly mount 92, chest mount 93 and two sets of shoulder mount 94 and head mount 95 respectively, for the recovered auxiliary treatment of using of vertebra, in the use, the user accessible starts driving motor 10, the drive is automatic to be taken turns 81 and is rotated, thereby drive whole treatment robot and walk, the auxiliary user carries out the position and moves, during this period, need to change the distance between drive round platform 73 and the driven round platform 74, make drive round platform 73 and driven round platform 74 separate.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a recovered treatment robot of using of retractable vertebra, includes L type base (1), its characterized in that: the top end of the L-shaped base (1) is provided with a bottom frame (2), the top end of the bottom frame (2) is provided with a middle frame (3), the top end of the middle frame (3) is provided with a top frame (4), a middle driving mechanism (5) is arranged among the L-shaped base (1), the bottom frame (2) and the middle frame (3), a top driving mechanism (6) matched with the middle driving mechanism (5) for use is arranged between the middle frame (3) and the top frame (4), and one side of the bottom end of the bottom frame (2) is provided with a bottom driving mechanism (7) matched with the middle driving mechanism (5) for use;

a support frame (8) is fixedly installed at the bottom end of the L-shaped base (1), four groups of automatic travelling wheels (81) distributed in a rectangular array are arranged at the bottom end of the support frame (8), and a driving motor (10) matched with the automatic travelling wheels (81) for use is fixedly installed at one side of the support frame (8);

a protective pad (11) is fixedly arranged on one side of the top end of the L-shaped base (1), and symmetrically-distributed side blocking supports (12) are fixedly arranged on the top end of the L-shaped base (1);

there is waist mount (91) at one side middle part of L type base (1) through buffer beam fixed mounting, there is belly mount (92) at one side middle part of underframe (2) through buffer beam fixed mounting, there are chest mount (93) at one side middle part of center (3) through buffer beam fixed mounting, there are two sets of shoulder mounts (94) that are the symmetric distribution at one side upper end of center (3) through buffer beam fixed mounting, there is head mount (95) at one side middle part of top frame (4) through buffer beam fixed mounting.

2. The retractable robot for spinal rehabilitation according to claim 1, wherein: well drive mechanism (5) are including first rotation seat (51) and interior jacket seat (52), interior jacket seat (52) are equipped with and are two sets of up-down symmetric distribution, and are two sets of interior jacket seat (52) respectively with one side looks remote site middle part fixed connection of L type base (1), center (3), first rotation seat (51) fixed mounting is in one side middle part that abdomen mount (92) were kept away from in underframe (2), the middle part of first rotation seat (51) is rotated and is inserted and be equipped with double threaded screw (53), the upper and lower part difference screw thread of double threaded screw (53) is pegged graft in corresponding interior jacket seat (52), the bottom middle part slip card of double threaded screw (53) is equipped with flexible guide arm (532), activity tension spring (533) between the top of flexible guide arm (532) and the bottom of double threaded screw (53) cover is equipped with.

3. The retractable robot for spinal rehabilitation according to claim 1, wherein: the top and the bottom of underframe (2) all fixed mounting have first guide bar (21) that are the symmetric distribution, one side that underframe (2) were kept away from in first guide bar (21) corresponds the slip joint respectively in the opposite side of L type base (1), center (3).

4. The retractable robot for spinal rehabilitation according to claim 2, wherein: the top drive mechanism (6) comprises a second rotating seat (61), the second rotating seat (61) is fixedly installed in the middle of the upper end of one side of a top frame (4), the second rotating seat (61) is fixedly installed in the middle of the bottom end of the second rotating seat (62), an inner threaded sleeve (62) is arranged in the middle of the bottom end of the inner threaded sleeve (62), a telescopic screw rod (63) is arranged in the middle of the bottom end of the telescopic screw rod (63), a sleeve (64) is movably sleeved at the bottom of the outer side of the sleeve (64), a bearing (65) is fixedly sleeved on the outer side of the sleeve (64), a clamping column (651) is vertically installed on one side of the outer wall of the bearing (65), the clamping column (651) is slidably clamped in the middle of one side of the middle frame (3), a connecting column (66) is fixedly installed at the bottom end of the sleeve (64), a driving clamping projection (67) is fixedly installed at the, the middle of the top end of the double-end screw (53) is provided with a driving groove (531) matched with the driving clamping protrusion (67), and the driving clamping protrusion (67) is movably clamped in the driving groove (531).

5. The retractable robot for spinal rehabilitation according to claim 4, wherein: the inner wall fixedly connected with of sleeve pipe (64) is direction sand grip (641) of symmetric distribution, guide way (631) that cooperate the use with direction sand grip (641) have been seted up to the outside bottom of telescopic screw (63), and direction sand grip (641) slip joint in corresponding guide way (631).

6. The retractable robot for spinal rehabilitation according to claim 4, wherein: the middle part of one side of center (3) is seted up and is blocked card spout (301) that post (651) cooperation was used, and blocks the slip joint of post (651) in card spout (301), the interior lower wall fixed mounting of card spout (301) has miniature telescopic link (652), the output of miniature telescopic link (652) and the perpendicular installation of one side of calorie post (651).

7. The retractable robot for spinal rehabilitation according to claim 1, wherein: the top middle part fixed mounting of center (3) has second guide bar (31), the top slip joint of second guide bar (31) is in top frame (4).

8. The retractable robot for spinal rehabilitation according to claim 2, wherein: end drive mechanism (7) include electric telescopic handle (71), the one end of electric telescopic handle (71) and the output fixed mounting of driving motor (10), the output fixed mounting of electric telescopic handle (71) has pivot (72), the one end fixed mounting that electric telescopic handle (71) were kept away from in pivot (72) has drive round platform (73), the bottom fixed mounting of flexible guide arm (532) has driven round platform (74) that uses with drive round platform (73) cooperation, the equal fixed cover in surface of drive round platform (73) and driven round platform (74) is equipped with the friction gum cover.

9. The retractable robot for spinal rehabilitation according to claim 1, wherein: it has multiunit worker's groove (801) with automatic running wheel (81) cooperation use to open in support frame (8), the equal fixed mounting in top of automatic running wheel (81) has direction rack bar (811), direction rack bar (811) activity joint is in the one side that corresponds worker's groove (801), fixed mounting has first spring (841) between the top of direction rack bar (811) and the interior upper wall of worker's groove (801), the equal slip card of opposite side of worker's groove (801) is equipped with buffering rack (82), the middle part of worker's groove (801) is all rotated and is installed multiunit buffering gear (83), multiunit buffering gear (83) meshing connection is between corresponding direction rack bar (811) and buffering rack (82), the top and the equal fixed mounting in bottom of buffering rack (82) have second spring (842).

10. A using method of a retractable spine rehabilitation therapeutic robot is characterized in that: comprises the following steps of (a) carrying out,

firstly, a user sits on an L-shaped base (1) to place the buttocks on a protective pad (11), then the distance among the L-shaped base (1), a bottom frame (2), a middle frame (3) and a top frame (4) is flexibly changed according to the requirements of users with different heights, and the distance between a driving round table (73) and a driven round table (74) is flexibly changed by controlling and starting an electric telescopic rod (71);

step two, when the driving round table (73) is contacted with the driven round table (74), the driving motor (10) is started to drive the electric telescopic rod (71) and the rotating shaft (72) to rotate, and finally the distance between the waist fixing frame (91), the abdomen fixing frame (92), the chest fixing frame (93) and the two groups of shoulder fixing frames (94) is changed synchronously so as to meet the requirements of users with different heights;

step three, the distance between the middle frame (3) and the top frame (4) can be synchronously adjusted according to requirements, the miniature telescopic rod (652) is controlled and started, the clamping column (651) is driven to move up and down in the clamping sliding groove (301), so that the sleeve (64) is driven to slide up and down at the bottom of the telescopic screw rod (63), and finally the distance between the chest fixing frame (93) and the head fixing frame (95) is changed to meet the requirements of users with different heights;

and fourthly, the user can drive the automatic travelling wheel (81) to rotate by starting the driving motor (10), so that the whole treatment robot is driven to walk, the user is assisted to move the position, and in the period, the distance between the driving circular table (73) and the driven circular table (74) needs to be changed, so that the driving circular table (73) is separated from the driven circular table (74).