CN113197753B - Telescopic therapeutic robot for vertebra rehabilitation and use method - Google Patents
Telescopic therapeutic robot for vertebra rehabilitation and use method Download PDFInfo
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- CN113197753B CN113197753B CN202110478542.XA CN202110478542A CN113197753B CN 113197753 B CN113197753 B CN 113197753B CN 202110478542 A CN202110478542 A CN 202110478542A CN 113197753 B CN113197753 B CN 113197753B
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- 238000000034 method Methods 0.000 title abstract description 11
- 230000001225 therapeutic effect Effects 0.000 title description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 210000001015 abdomen Anatomy 0.000 claims description 13
- 210000000038 chest Anatomy 0.000 description 14
- 230000000694 effects Effects 0.000 description 12
- 210000001217 buttock Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000004576 sand Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000779 thoracic wall Anatomy 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- 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
-
- 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
-
- 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
- A61H2201/1604—Head
- A61H2201/1607—Holding means therefor
-
- 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
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—Holding means therefor
-
- 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
- A61H2201/1619—Thorax
- A61H2201/1621—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Neurology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a telescopic vertebra rehabilitation treatment robot and a use method thereof, the telescopic vertebra rehabilitation treatment robot comprises an L-shaped base, a bottom frame is arranged at the top end of the L-shaped base, a middle frame is arranged at the top end of the bottom frame, a top frame is arranged at the top end of the middle 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, and a bottom driving mechanism matched with the middle driving mechanism is arranged at one side of the bottom end of the bottom frame.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a telescopic therapeutic robot for vertebra rehabilitation and a use method thereof.
Background
The spine, also called spine, is a body support, located in the middle of the back, with the upper end terminating in the skull and the lower end reaching the coccyx apex; 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 looks like a bracket and hangs the chest wall and the abdominal wall; the lower part is short, the weight of the body and the vibration are transmitted to the lower limb; the spine is composed of vertebrae and intervertebral discs, and is a relatively soft and mobile structure. With the motion load of the body, the shape of the spine can vary considerably, the spinal activity being dependent on the integrity of the intervertebral disc, the harmony between the articular processes of the vertebrae involved;
at present, when the clinical treatment is performed on the spine, the spine rehabilitation treatment robot is usually used for performing the spine auxiliary rehabilitation, when the traditional spine rehabilitation treatment robot is used, the fixing frames at all parts of a user are usually used for supporting all parts of the user so as to achieve the whole spine of the user for the auxiliary treatment of the spine rehabilitation, however, the structures among the fixing frames at all parts are relatively fixed and cannot be subjected to telescopic adjustment, so that the distance among the fixing frames at all parts cannot be flexibly changed according to the requirements of users with different heights, the flexibility is lower, and the effect of the whole treatment robot on the spine rehabilitation use is affected.
Disclosure of Invention
The invention aims to provide a telescopic vertebra rehabilitation treatment robot and a using method thereof, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a scalable vertebra rehabilitation is with treatment robot, includes L type base, the top of L type base is equipped with the underframe, the top of underframe is equipped with the center, the top of center is equipped with the top frame, be equipped with between L type base, underframe and the center and drive the mechanism, be equipped with between center and the top frame and drive the mechanism that the top that the mechanism used with the center cooperatees, bottom one side of underframe is equipped with and drives the mechanism that the bottom that the mechanism cooperatees with the center uses;
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 protection pad is fixedly arranged at one side of the top end of the L-shaped base, and preferably, side baffle brackets which are symmetrically distributed are fixedly arranged at the top end of the L-shaped base;
the waist fixing frame is fixedly arranged at one side middle part of the L-shaped base through a buffer rod, the abdomen fixing frame is fixedly arranged at one side middle part of the bottom frame through the buffer rod, the chest fixing frame is fixedly arranged at one side middle part of the middle frame through the buffer rod, two groups of shoulder fixing frames which are symmetrically distributed are fixedly arranged at one side upper end of the middle frame through the buffer rod, and the head fixing frame is fixedly arranged at one side middle part of the top frame through the buffer rod.
Preferably, the middle driving mechanism comprises a first rotating seat and an inner screw sleeve seat, wherein the inner screw sleeve seat is provided with two groups which are vertically symmetrically distributed, the two groups of inner screw sleeve seats are respectively fixedly connected with the middle parts of opposite ends of one side of the L-shaped base and one side of the middle frame, the first rotating seat is fixedly arranged at the middle part of one side of the bottom frame, which is far away from the abdomen fixing frame, a double-head screw rod is rotatably inserted in the middle part of the first rotating seat, the upper part and the lower part of the double-head screw rod are respectively in threaded connection with the corresponding inner screw sleeve seat, a telescopic guide rod is slidably clamped at the middle part of the bottom end of the double-head screw rod, and a tension spring is movably sleeved between the top of the telescopic guide rod and the bottom end of the double-head screw rod.
Preferably, the top and bottom of the bottom frame are fixedly provided with first guide rods which are symmetrically distributed, and one side of the first guide rods, which is far away from the bottom frame, is correspondingly and slidably clamped on the opposite sides of the L-shaped base and the middle frame respectively.
Preferably, the top drive mechanism comprises a second rotating seat, the second rotating seat is fixedly arranged in the middle of one side upper end of the top frame, an inner screw sleeve is arranged on a bottom middle fixing clamp of the second rotating seat, a telescopic screw is arranged on a middle thread clamp of the bottom of the inner screw sleeve, a sleeve is movably sleeved on the outer side bottom of the telescopic screw, a bearing is fixedly sleeved on the outer side of the sleeve, a clamping column is vertically arranged on one side of the outer wall of the bearing, the clamping column is in sliding clamping connection with one side middle of the middle frame, a connecting column is fixedly arranged at the bottom end of the connecting column, a driving clamping protrusion is fixedly arranged on the outer wall of the driving clamping protrusion, an anti-skid pattern is arranged on the middle of the top end of the double-head screw, a driving groove is matched with the driving clamping protrusion, and the driving clamping protrusion is movably clamped in the driving groove.
Preferably, the telescopic guide screw comprises a telescopic screw body, wherein the telescopic screw body is provided with a plurality of guide ribs, the inner wall of the telescopic screw body is fixedly connected with the guide ribs which are symmetrically distributed, the bottom of the outer side of the telescopic screw body is provided with guide grooves matched with the guide ribs, and the guide ribs are in sliding clamping connection with the corresponding guide grooves.
Preferably, a clamping chute matched with the clamping column is formed in the middle of one side of the middle frame, the clamping column is slidably clamped in the clamping chute, a miniature telescopic rod is fixedly mounted on the inner lower wall of the clamping chute, and the output end of the miniature telescopic rod and one side of the clamping column are vertically mounted.
Preferably, a second guide rod is fixedly arranged in the middle of the top end of the middle frame, and the top of the second guide rod is slidably clamped in the top frame.
Preferably, the bottom drive mechanism comprises an electric telescopic rod, one end of the electric telescopic rod and the output end of the driving motor are fixedly arranged, a rotating shaft is fixedly arranged at the output end of the electric telescopic rod, one end of the rotating shaft, far away from the electric telescopic rod, is fixedly provided with a driving round table, the bottom end of the telescopic guide rod is fixedly provided with a driven round table matched with the driving round table, and friction rubber sleeves are fixedly sleeved on the outer surfaces of the driving round table and the driven round table.
Preferably, a plurality of groups of working grooves matched with the automatic travelling wheels are formed in the supporting frame, guide rack rods are fixedly installed at the top ends of the automatic travelling wheels, the guide rack rods are movably clamped on one sides of the corresponding working grooves, first springs are fixedly installed between the top ends of the guide rack rods and the inner upper walls of the working grooves, buffer racks are slidably clamped on the other sides of the working grooves, a plurality of groups of buffer gears are rotatably installed in the middle of each working groove, the buffer gears are in meshed connection between the corresponding guide rack rods and the corresponding buffer racks, and second springs are fixedly installed at the top ends and the bottom ends of the buffer racks.
A use method of a telescopic therapeutic robot for vertebra rehabilitation, which comprises the following steps,
step one, a user sits on an L-shaped base to place buttocks on a protection pad, then the distances among the L-shaped base, a bottom frame, a middle frame and a top frame are flexibly changed according to the requirements of users with different heights, and the distance between a driving round table and a driven round table is flexibly changed by controlling and starting an electric telescopic rod;
step two, 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 distances among the waist fixing frame, the abdomen fixing frame, the chest fixing frame and the two groups of shoulder fixing frames are synchronously changed so as to adapt to 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 the requirements, the miniature telescopic rod is controlled and started, the clamping column is driven to move up and down in the clamping chute, so that the driving sleeve slides 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, so that the requirements of users with different heights are met;
step four, a 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 position of the user is assisted to move, and in the period, the distance between the driving round table and the driven round table is required to be changed, so that the driving round table and the driven round table are separated.
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 driving mechanism, the top driving mechanism, the bottom driving mechanism and the driving motor which are matched with each other, 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 is changed, the distance between the middle frame and the top frame is synchronously adjusted according to the requirements, and the distance between the chest fixing frame and the head fixing frame is further changed, thereby being suitable for the requirements of users with different heights, being convenient for the fit use of users with different heights, and further effectively improving the flexibility and the use effect of the whole treatment robot.
2. The driving motor is used for driving the automatic travelling wheel to rotate, so that the whole treatment robot is driven to walk, a user is assisted to move in position, and during the period, the distance between the driving round table and the driven round table is required to be changed, so that the driving round table and the driven round table are separated.
3. Through setting up the protection pad, the user is sitting when using to protect user's buttock to improved whole treatment robot's result of use, and set up the side fender support, spacing to user's both sides, thereby improved whole treatment robot's safety in utilization.
4. When a user sits on the robot, the support frame stably moves downwards, so that the guide rack rod is driven to move upwards, the guide rack rod moves downwards, the second spring at the lower side is extruded, the second spring at the upper side is stretched, the automatic travelling wheel is buffered through the action of the first spring and the second spring, the whole robot and the user are buffered, the comfort effect of the user during use is effectively improved, and the use effect of the whole robot is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the connection of a portion of the structure of the present invention;
FIG. 3 is a schematic diagram showing structural connection of the intermediate drive mechanism according to the present invention;
FIG. 4 is a schematic diagram illustrating the structural connection of the top drive mechanism according to the present invention;
FIG. 5 is an enlarged view of the invention at A in FIG. 4;
FIG. 6 is a schematic diagram illustrating the structural connection of the bottom drive mechanism of the present invention;
FIG. 7 is a schematic view of the structural connection of the double-ended screw and the telescoping rod of the present invention;
fig. 8 is a schematic plan view showing the connection of the support frame and the travelling wheel in 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 travelling wheel; 801. an I-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 rack; 93. chest fixing frame; 94. a shoulder fixing frame; 95. a head fixing frame; 10. a driving motor; 11. a protective pad; 12. a side shield bracket; 21. a first guide bar; 31. a second guide bar; 301. a clamping chute; 51. a first rotating seat; 52. an inner thread sleeve seat; 53. a double-ended screw; 531. a driving groove; 532. a telescopic guide rod; 533. a tension spring; 61. a second rotating seat; 62. an internal screw sleeve; 63. a telescopic screw; 631. a guide groove; 64. a sleeve; 641. a guide convex strip; 65. a bearing; 651. a clamping column; 652. a miniature telescopic rod; 66. a connecting column; 67. a driving clamp protrusion; 71. an electric telescopic rod; 72. a rotating shaft; 73. driving the round table; 74. and a driven round table.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a scalable vertebra rehabilitation is with treatment robot, including L type base 1, the person of facilitating the use sits on whole treatment robot, the top of L type base 1 is equipped with underframe 2, the top of underframe 2 is equipped with center 3, the top of center 3 is equipped with footframe 4, be equipped with between L type base 1, underframe 2 and the center 3 and drive mechanism 5, be equipped with between center 3 and the footframe 4 and drive mechanism 6 that the mechanism 5 cooperation was used with the middle, bottom one side of underframe 2 is equipped with and drives mechanism 7 with the bottom that the mechanism 5 cooperation was used with the middle;
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, and the driving motor 10 is started to drive the automatic travelling wheels 81 to rotate so as to drive the whole treatment robot to walk and assist a user to move the position, which is the prior art;
the protection pad 11 is fixedly arranged on one side of the top end of the L-shaped base 1, so that a user can protect the buttocks of the user when sitting and using the treatment robot, and the using effect of the whole treatment robot is improved; the top end of the L-shaped base 1 is fixedly provided with side baffle brackets 12 which are symmetrically distributed and limit the two sides of a user;
the middle part of one side of L type base 1 is through buffer rod fixed mounting having waist mount 91 for the vertebra of fixed stay user waist, and the middle part of one side of underframe 2 is through buffer rod fixed mounting having abdomen mount 92 for the vertebra of fixed stay user abdomen, and the middle part of one side of center 3 is through buffer rod fixed mounting having chest mount 93 for the vertebra of fixed stay user chest, and one side upper end of center 3 is through buffer rod fixed mounting having two sets of shoulder mounts 94 that are symmetric distribution, and the shoulder that is used for the fixed stay user both sides, and one side middle part of top frame 4 is through buffer rod fixed mounting having head mount 95 for the head of fixed stay user, thereby realizes supporting the whole vertebra of user for the rehabilitation of vertebra is with auxiliary treatment.
The middle driving mechanism 5 comprises a first rotating seat 51 and an inner screw sleeve seat 52, wherein the inner screw sleeve seat 52 is provided with two groups which are vertically symmetrically distributed, the two groups of inner screw sleeve seats 52 are respectively and fixedly connected with the middle parts of opposite ends of one side of the L-shaped base 1 and one side of the middle frame 3, the first rotating seat 51 is fixedly arranged at the middle part of one side of the bottom frame 2, which is far away from the abdomen fixing frame 92, a double-end screw rod 53 is rotationally inserted in the middle part of the first rotating seat 51, the upper part and the lower part of the double-end screw rod 53 are respectively and spirally inserted in the corresponding inner screw sleeve seat 52, a telescopic guide rod 532 is slidably clamped at the middle part of the bottom end of the double-end screw rod 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-end screw rod 53; the double-end screw 53 is driven to rotate, the distance between the two groups of inner screw sleeve seats 52 is flexibly changed, and then 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 requirements of users with different heights are met, the users with different heights can be conveniently attached to the robot, and the flexibility and the use effect of the whole treatment robot are effectively improved.
The top and the bottom of underframe 2 are all fixed mounting have and are symmetrical distributed first guide bar 21, and one side that underframe 2 was kept away from to first guide bar 21 corresponds the slip joint respectively in L type base 1, the opposite side of center 3, when nimble distance between adjusting L type base 1, center 3 and the underframe 2, first guide bar 21 flexible slip in L type base 1, the center 3 that correspond has improved the stability when the distance between L type base 1, center 3 and the underframe 2 changes.
The top drive 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 screw sleeve 62 is fixedly clamped in the middle of the bottom end of the second rotating seat 61, a telescopic screw 63 is clamped in the middle of the bottom end of the inner screw sleeve 62, a sleeve seat is rotatably sleeved in the middle of the outer side of the telescopic screw 63, one side of the sleeve seat is fixedly arranged on the middle frame 3, the telescopic screw 63 can rotate on the middle frame 3 through the sleeve seat, the telescopic screw 63 can rotate through driving the telescopic screw 63, the telescopic screw 63 can stretch in the inner screw sleeve 62, thereby flexibly changing the distance between the middle frame 3 and the top frame 4 to adapt to the demands of users with different heights, a sleeve 64 is movably sleeved at the bottom of the telescopic screw 63, the sleeve 64 can slide up and down at the bottom of the telescopic screw 63, a bearing 65 is fixedly sleeved at the outer side of the sleeve 64, 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 in sliding clamping connection with the middle part of one side of the middle frame 3, a connecting column 66 is fixedly arranged at the bottom end of the sleeve 64, a driving clamping protrusion 67 is fixedly arranged at the middle part of the bottom end of the connecting column 66, anti-skid patterns are arranged on the outer wall of the driving clamping protrusion 67, a driving groove 531 is formed in the middle part of the top end of the double-headed screw rod 53 and matched with the driving clamping protrusion 67, 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 rod 63, the driving connecting column 66 moves downwards, the driving clamping protrusion 67 is movably clamped in the driving groove 531, so that the connecting column 66 and the sleeve 64 can be synchronously driven to rotate through rotation of the double-headed screw rod 53, and conversely, when the sleeve 64 slides upwards at the bottom of the telescopic screw rod 63, the driving clamping protrusion 67 is separated from the driving groove 531, rotation of the double-ended screw 53 does not drive rotation of the post 66 and sleeve 64.
The inner wall fixedly connected with of sleeve pipe 64 is symmetrical distributed's guide sand grip 641, and the guide slot 631 that cooperates with guide sand grip 641 to use is offered to the outside bottom of telescopic screw 63, and guide sand grip 641 slip joint in corresponding guide slot 631, has improved sleeve pipe 64 at telescopic screw 63's outside bottom gliding stability from top to bottom to the rotation of guide sand grip 641 is spacing through guide slot 631, makes sleeve pipe 64's rotation drive telescopic screw 63 rotate.
The middle part of one side of the middle frame 3 is provided with a clamping chute 301 matched with the clamping column 651, the clamping column 651 is in sliding clamping connection in the clamping chute 301, a miniature telescopic rod 652 is fixedly arranged on the inner lower wall of the clamping chute 301, the output end of the miniature telescopic rod 652 and one side of the clamping column 651 are vertically arranged, and the miniature telescopic rod 652 is controlled and started to drive the clamping column 651 to move up and down in the clamping chute 301, so that the driving sleeve 64 slides up and down at the bottom of the telescopic screw 63.
The middle part of the top end of the middle frame 3 is fixedly provided with a second guide rod 31, the top of the second guide rod 31 is slidably clamped in the top frame 4, when the distance between the middle frame 3 and the top frame 4 is flexibly adjusted, the second guide rod 31 slides in the top frame 4 in a telescopic manner, and the stability of the middle frame 3 and the top frame 4 when the distance is changed is improved.
The bottom driving mechanism 7 comprises an electric telescopic rod 71, one end of the electric telescopic rod 71 is fixedly arranged at the output end of a driving motor 10, a rotating shaft 72 is fixedly arranged at the output end of the electric telescopic rod 71, a driving round table 73 is fixedly arranged at one end of the rotating shaft 72, which is far away from the electric telescopic rod 71, a driven round table 74 which is matched with the driving round table 73 in use is fixedly arranged at the bottom end of the telescopic guide rod 532, friction rubber sleeves are fixedly sleeved on the outer surfaces of the driving round table 73 and the driven round table 74, 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 and the driven round table 74 are contacted, 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 rotate, and the driving double-head screw 53 and the telescopic guide rod 532 rotate by starting the driving motor 10 when the driving round table 73 and the driven round table 74 are not contacted.
A plurality of groups of working grooves 801 which are matched with the automatic travelling wheels 81 are formed in the supporting frame 8, guide rack bars 811 are fixedly arranged at the top ends of the automatic travelling wheels 81, the guide rack bars 811 are movably clamped on one sides of the corresponding working grooves 801, the guide rack bars 811 can slide up and down in the working grooves 801, first springs 841 are fixedly arranged between the top ends of the guide rack bars 811 and the inner upper walls of the working grooves 801, when the guide rack bars 811 slide up and down in the working grooves 801, the corresponding first springs 841 can be extruded or stretched, so that the up and down sliding of the guide rack bars 811 is buffered, buffer racks 82 are slidably clamped on the other sides of the working grooves 801, the buffer racks 82 can slide up and down in the working grooves 801, a plurality of groups of buffer gears 83 are rotatably arranged in the middle of the working grooves 801, the buffer gear 83 is engaged and connected between the corresponding guide rack bar 811 and the buffer rack 82, the top end and the bottom end of the buffer rack 82 are fixedly provided with the second springs 842, when the buffer rack 82 slides up and down in the shaped groove 801, the corresponding second springs 842 can be extruded or stretched, so that the buffer rack 82 slides up and down, when a user sits, the support frame 8 moves down stably, the guide rack bar 811 moves up, the first springs 841 are extruded and synchronously drive the buffer gear 83 to rotate, the buffer rack 82 moves down, the second springs 842 at the lower side are extruded and the second springs 842 at the upper side are stretched, the buffer is carried out on the automatic travelling wheel 81 by the action of the first springs 841 and the second springs 842, so that the whole robot and the user are buffered, and the comfort effect of the user during use is further effectively improved, and the use effect of the whole robot is improved.
A use method of a telescopic therapeutic robot for vertebra rehabilitation, which comprises the following steps,
step one, a user sits on the L-shaped base 1 to place buttocks on the protection pad 11, then the distance among the L-shaped base 1, the bottom frame 2, the middle frame 3 and the top frame 4 is flexibly changed according to the requirements of users with different heights, and 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;
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 distances among 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, so that the requirements of users with different heights are met;
step three, the distance between the middle frame 3 and the top frame 4 can be synchronously adjusted according to the requirement, 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, the driving sleeve 64 slides 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, so that the requirements of users with different heights can be met;
step four, the user can drive the automatic travelling wheel 81 to rotate by starting the driving motor 10, so as to drive the whole treatment robot to walk, and assist the user to perform position movement, during which the distance between the driving round table 73 and the driven round table 74 needs to be changed, so that the driving round table 73 and the driven round table 74 are separated.
Working principle: the invention relates to a telescopic vertebra rehabilitation therapeutic robot and a use method, when in use, a user sits on an L-shaped base 1 to enable buttocks to be placed on a protective pad 11, at the moment, a support frame 8 stably moves downwards, thereby driving a guide rack bar 811 to move upwards, extruding a first spring 841 and synchronously driving a plurality of groups of buffer gears 83 to rotate, further driving a buffer rack 82 to move downwards, extruding a second spring 842 at the lower side and stretching the second spring 842 at the upper side, buffering an automatic travelling wheel 81 by the actions of the first spring 841 and the second spring 842, thereby buffering the whole robot and the user, effectively improving the comfort effect of the user during use, improving the use effect of the whole robot, and then flexibly changing the distances among the L-shaped base 1, a bottom frame 2, a middle frame 3 and a top frame 4 according to the requirements of users with different heights, by controlling and starting the electric telescopic rod 71, the distance between the driving round table 73 and the driven round table 74 is flexibly changed, when the driving round table 73 and the driven round table 74 are contacted, the driving motor 10 is started to drive the electric telescopic rod 71 and the rotating shaft 72 to rotate, thereby driving the driving round table 73 and the driven round table 74 to rotate, the rotation of the driven round table 74 drives the double-headed screw 53 and the telescopic guide 532 to rotate, the distance between the two groups of inner screw sleeve seats 52 is flexibly changed through the rotation of the driving double-headed screw 53 and the telescopic guide 532, the distance between the L-shaped base 1, the middle frame 3 and the bottom frame 2 is synchronously and flexibly adjusted, the distance between the waist fixing frame 91, the abdomen fixing frame 92 and the chest fixing frame 93 and the distance between the two groups of shoulder fixing frames 94 are synchronously changed, so that the requirements of users with different heights are met, the users with different heights can be conveniently attached, thereby effectively improving the flexibility and the use effect of the whole treatment robot, at the moment, the distance between the double-headed screw 53 and the telescopic guide rod 532 is changed, meanwhile, the distance between the middle frame 3 and the top frame 4 can be synchronously adjusted according to the requirement, the miniature telescopic rod 652 is controlled and started, the driving clamping column 651 moves up and down in the clamping chute 301, thereby driving the sleeve 64 to slide 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 boss 67 is movably clamped in the driving groove 531, thereby synchronously driving the connecting column 66 and the sleeve 64 to rotate through the rotation of the double-headed screw 53, driving the telescopic screw 63 to rotate through the rotation of the guiding convex strip 641 through the guiding groove 631, the telescopic screw 63 can be telescopic in the internal screw sleeve 62, so that the distance between the middle frame 3 and the top frame 4 can be flexibly changed, and the distance between the chest fixing frame 93 and the head fixing frame 95 can be further changed to meet the requirements of users with different heights, then, the whole vertebra of the users is respectively supported by using the waist fixing frame 91, the abdomen fixing frame 92, the chest fixing frame 93, the two groups of shoulder fixing frames 94 and the head fixing frame 95, so that the rehabilitation of the vertebra is assisted, in the use process, 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 position of the user is assisted, and the distance between the driving round table 73 and the driven round table 74 needs to be changed during the process, so that the driving round table 73 and the driven round table 74 are separated.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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)
1. The utility model provides a telescopic vertebra rehabilitation is with treatment robot, includes L type base (1), its characterized in that: the top of the L-shaped base (1) is provided with a bottom frame (2), the top of the bottom frame (2) is provided with a middle frame (3), the top 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) 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);
the automatic walking device is characterized in that a support frame (8) is fixedly arranged at the bottom end of the L-shaped base (1), four groups of automatic walking 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 walking wheels (81) is fixedly arranged at one side of the support frame (8);
a protection pad (11) is fixedly arranged at one side of the top end of the L-shaped base (1), and side baffle brackets (12) which are symmetrically distributed are fixedly arranged at the top end of the L-shaped base (1);
waist fixing frames (91) are fixedly arranged in the middle of one side of the L-shaped base (1) through buffer rods, abdomen fixing frames (92) are fixedly arranged in the middle of one side of the bottom frame (2) through the buffer rods, chest fixing frames (93) are fixedly arranged in the middle of one side of the middle frame (3) through the buffer rods, two groups of shoulder fixing frames (94) which are symmetrically distributed are fixedly arranged at the upper end of one side of the middle frame (3) through the buffer rods, and head fixing frames (95) are fixedly arranged in the middle of one side of the top frame (4) through the buffer rods;
the middle driving mechanism (5) comprises a first rotating seat (51) and an inner screw sleeve seat (52), wherein the inner screw sleeve seat (52) is provided with two groups which are vertically symmetrically distributed, the two groups of inner screw sleeve seats (52) are respectively fixedly connected with the middle parts of one side opposite ends of the L-shaped base (1) and the middle frame (3), the first rotating seat (51) is fixedly arranged in the middle part of one side, far away from the abdomen fixing frame (92), of the bottom frame (2), a double-head screw rod (53) is rotatably inserted in the middle part of the first rotating seat (51), the upper part and the lower part of the double-head screw rod (53) are respectively in threaded connection with the corresponding inner screw sleeve seat (52), a telescopic guide rod (532) is slidably clamped in the middle part of the bottom end of the double-head screw rod (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-head screw rod (53).
The top end and the bottom end of the bottom frame (2) are fixedly provided with first guide rods (21) which are symmetrically distributed, and one side of the first guide rods (21) far away from the bottom frame (2) is correspondingly and slidingly clamped on the opposite sides of the L-shaped base (1) and the middle frame (3) respectively;
the top drive mechanism (6) comprises a second rotating seat (61), the second rotating seat (61) is fixedly arranged in the middle of one side upper end 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), a telescopic screw (63) is clamped in the middle of the bottom end of the inner threaded sleeve (62), a sleeve (64) is movably sleeved at the bottom of the outer side of the telescopic screw (63), a bearing (65) is fixedly sleeved at the outer side of the sleeve (64), a clamping column (651) is vertically arranged on one side of the outer wall of the bearing (65), 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), an anti-skid pattern is arranged on the outer wall of the driving clamping protrusion (67), a driving groove (531) is matched with the middle of the top end of the double-head screw (53), and the driving protrusion (67) is movably clamped in the driving groove (531);
the inner wall of the sleeve (64) is fixedly connected with symmetrically distributed guide convex strips (641), guide grooves (631) matched with the guide convex strips (641) are formed in the outer bottom of the telescopic screw (63), and the guide convex strips (641) are in sliding clamping connection with the corresponding guide grooves (631);
a clamping sliding groove (301) matched with the clamping column (651) is formed in the middle of one side of the middle frame (3), the clamping column (651) is in sliding clamping connection with the clamping sliding groove (301), a miniature telescopic rod (652) is fixedly arranged on the inner lower wall of the clamping sliding groove (301), and the output end of the miniature telescopic rod (652) is vertically arranged on one side of the clamping column (651);
a second guide rod (31) is fixedly arranged in the middle of the top end of the middle frame (3), and the top of the second guide rod (31) is slidably clamped in 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 arranged at the output end of the driving motor (10), a rotating shaft (72) is fixedly arranged at the output end of the electric telescopic rod (71), a driving circular table (73) is fixedly arranged at one end, far away from the electric telescopic rod (71), of the rotating shaft (72), a driven circular table (74) matched with the driving circular table (73) is fixedly arranged at the bottom end of the telescopic guide rod (532), and friction rubber sleeves are fixedly sleeved on the outer surfaces of the driving circular table (73) and the driven circular table (74);
the automatic steering device is characterized in that a plurality of groups of working grooves (801) matched with the automatic steering wheel (81) are formed in the supporting frame (8), guide rack rods (811) are fixedly arranged at the top ends of the automatic steering wheel (81), the guide rack rods (811) are movably clamped on one sides of the corresponding working grooves (801), first springs (841) are fixedly arranged between the top ends of the guide rack rods (811) and the inner upper walls of the working grooves (801), buffer racks (82) are fixedly arranged on the other sides of the working grooves (801) in a sliding mode, a plurality of groups of buffer gears (83) are rotatably arranged in the middle of the working grooves (801), and the buffer gears (83) are in meshed connection between the corresponding guide rack rods (811) and the buffer racks (82), and second springs (842) are fixedly arranged at the top ends and the bottom ends of the buffer racks (82).
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| CN202110478542.XA CN113197753B (en) | 2021-04-30 | 2021-04-30 | Telescopic therapeutic robot for vertebra rehabilitation and use method |
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| CN113197753B true CN113197753B (en) | 2023-12-22 |
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| CN110897775A (en) * | 2019-12-10 | 2020-03-24 | 东莞市护康健康管理有限公司 | Lumbar vertebra traction device of squat forming seat |
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| CN212952496U (en) * | 2020-06-17 | 2021-04-13 | 李成文 | Mini band conveyer convenient to installation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110327180A (en) * | 2019-07-05 | 2019-10-15 | 河北医科大学第三医院 | A kind of curing protrusion of lumbar intervertebral disc device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110897775A (en) * | 2019-12-10 | 2020-03-24 | 东莞市护康健康管理有限公司 | Lumbar vertebra traction device of squat forming seat |
| CN111035491A (en) * | 2020-01-06 | 2020-04-21 | 林雪林 | Spinal column auxiliary treatment device for spinal surgery |
| CN111000671A (en) * | 2020-01-21 | 2020-04-14 | 郑州铁路职业技术学院 | Spinal patient corrects and tempers device |
| CN212952496U (en) * | 2020-06-17 | 2021-04-13 | 李成文 | Mini band conveyer convenient to installation |
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Effective date of registration: 20231113 Address after: 710000, Room 2116, 21st Floor, Unit 1, Building 1, Wanda Plaza, at the intersection of Keji 7th Road and Tangyan Road, Zhangba Street Office, High tech Zone, Yanta District, Xi'an City, Shaanxi Province Applicant after: Shaanxi Tianrun Shangjian Medical Technology Co.,Ltd. Address before: 122500 No. 8107, erdaoliangzi group, Gangouzi village, daoerdeng Town, Lingyuan City, Chaoyang City, Liaoning Province Applicant before: Rui Wenli |
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