CN205515449U - Parallelly connected cervical vertebra rehabilitation device of gentle cable drive - Google Patents

Abstract

The utility model discloses a parallelly connected cervical vertebra rehabilitation device of gentle cable drive, degree of freedom figure is few in order to overcome, the recovered effect of patient is poor, the sensor detects the disappearance and the low problem of control accuracy, it is including removing the 1st mechanism of wire winding, removing the 2nd mechanism of wire winding, removing the 3rd mechanism of wire winding, removing wire winding the 4th mechanism, support and rope rehabilitation institution. The 1st mechanism of removal wire winding identical to moving the 4th structure of mechanism of wire winding, move the 1st mechanism of wire winding and move the 4th mechanism that winds the line and arrange symmetrically on no. 3 crossbeams that two root structure are the same of support bottom, remove the 2nd mechanism of wire winding and remove the 3rd mechanism of wire winding and arrange on no. 1 crossbeam at support top, rope rehabilitation institution arranges the intermediate position at the support, four wire rope's in the rope rehabilitation institution one end in proper order with move the 1st mechanism of wire winding and connect to moving the 4th mechanism of wire winding, four wire rope's the other end in proper order with rope rehabilitation institution in the neck area on four links that the structure is the same connect.

Description

A kind of Wire driven robot parallel connection cervical vertebra rehabilitation device

Technical field

This utility model relates to a kind of rehabilitation medical instrument, more precisely, this utility model relates to a kind of soft Rope drives cervical vertebra rehabilitation device in parallel.

Background technology

Cervical spondylosis is a kind of function degenerative disease, and cervical vertebra is when long-term holding fixed position, owing to lacking fortune Dynamic, musculi colli, ligament functional deterioration, cause prolapse of intervertebral disc, ligament to thicken, cause cervical vertebra spinal cord, Nerve or vertebral artery pressurized, thus produce a series of handicapped clinical syndrome.For a long time, facing Bed upper cervical spine disease be already in, common complaint among the elderly, also happen occasionally in Young Patients colony.At present, The utensil of cervical vertebra rehabilitation mainly makes patients with cervical do the pulling motion of single degree of freedom, and precision is relatively low, and rehabilitation is imitated Fruit is general.

About the research in cervical vertebra rehabilitation field, achieve some achievements: Chinese patent bulletin (cloth) number is CN 103006363A, bulletin (cloth) day is on April 3rd, 2013, invention entitled " Intelligent gravity cervical vertebra rehabilitation Physiotherapy bed ", the extension of main bed body of the physiotherapy bed provided in this case is provided with can the towing plate of translation and head Back cushion, electric cylinder drives towing plate to complete translational motion, and connecting rod one end is arranged in sleeve, the other end and weight Power guide rail slide block connect, utilize human comfort requirement control principle to design human body supporting bed, can be autonomous The time and intensity of regulation traction；Chinese patent bulletin (cloth) number is CN103815999A, announces (cloth) Day is on May 28th, 2014, invention entitled " a kind of cervical vertebrae tracting conditioner ", the cervical vertebra provided in this case Traction recovering device is by arranging piston, suspension ring, telescopic column, manual control unit and control unit, manually The frequency of the adjustment piston up-down of intelligence and piston stroke, applicable different crowd carries out spinal distractor exercise； Chinese patent bulletin (cloth) number is CN201211299Y, and bulletin (cloth) day is on March 25th, 2009, invention Entitled " cervical vertebra raising traction rehabilitation apparatus ", the traction recovering device provided in this case includes neck ring, bracket, jaw Torr etc., can be that patient provides enough drawing tensions, pull strength size to be relatively easy to control；Chinese patent is announced (cloth) number is CN203841872U, and bulletin (cloth) day is JIUYUE in 2014 24, invention entitled " a kind of Waist, cervical vertebra complex physiotherapy are recovery bed ", the physiotherapy and rehabilitation bed provided in this case includes bedstead, is limited on bedstead Upper trunk bed board, lower limb bed board and supporting driving means, the massage functions of increase makes this recovery bed collection Traction, massage etc. are multi-functional to be integrated.

In above-mentioned achievement, about patients with cervical rehabilitation field Cable-driven parallel manipulator research almost No.In the cervical vertebra rehabilitation motor study existed, during cervical vertebra rehabilitation, number of degrees of freedom is few, most It is only capable of making cervical vertebra do upper and lower pulling motion；Do not consider during Design of Mechanical Structure each degree of freedom stress and Misalignment, the only perception by patient self draw, and rehabilitation efficacy is poor；It is fitted without sensor Deng detecting element, control system imperfection, control accuracy is relatively low.In conjunction with above present situation and current demand, compel Need with cutting to design a kind of Cable-driven parallel manipulator meeting patients with cervical rehabilitation.

Summary of the invention

During technical problem to be solved in the utility model overcomes cervical vertebra rehabilitation, prior art exists The problem that number of degrees of freedom is few, the detection of Rehabilitation weak effect, sensor lacks and control accuracy is low；There is provided A kind of Wire driven robot parallel connection cervical vertebra rehabilitation device.

For solving above-mentioned technical problem, this utility model adopts the following technical scheme that realization: described one Kind of Wire driven robot parallel connection cervical vertebra rehabilitation device include mobile coiling the 1st mechanism, mobile coiling the 2nd mechanism, Mobile coiling the 3rd mechanism, mobile coiling the 4th mechanism, support and rope rehabilitation institution.

Described mobile coiling the 1st mechanism, mobile coiling the 2nd mechanism, mobile coiling the 3rd mechanism and movement The structure of coiling the 4th mechanism is identical, and mobile coiling the 1st mechanism installs symmetrically with mobile coiling the 4th mechanism On No. 3 crossbeams that two root architectures in support bottom are identical；Mobile coiling the 2nd mechanism and mobile coiling the 3rd Mechanism is arranged on No. 1 crossbeam of cradle top；Rope rehabilitation institution is arranged in the centre position of support, rope One end of four steel wire ropes in rope rehabilitation institution successively with mobile coiling the 1st mechanism, mobile coiling the 2nd machine Structure, mobile coiling the 3rd mechanism are connected with mobile coiling the 4th mechanism, the other end of four steel wire ropes successively with The link that four structures in neckstrap in rope rehabilitation institution are identical connects.

Mobile coiling the 1st mechanism described in technical scheme is by base assembly, transmission mechanism and winding mechanism group Become；Described base assembly includes line slideway and the end that baffle plate that two structures are identical, two root architectures are identical Seat；The identical line slideway of two described root architectures use bolt along base longitudinally asymmetric symmetry abreast It is fixedly mounted on the both sides of base；The baffle plate that two structures are identical respectively uses two bolts to be fixedly connected on base Two, left and right end face on, the baffle plate that two structures are identical simultaneously respectively uses two other to be bolted to two On the left and right end face of the line slideway that structure is identical；Transmission mechanism is by the identical connection of two structures therein Block and No. 2 ring flanges are fixed on base, and the contiguous block that two structures are identical is positioned at identical straight of two root architectures On base between the end of line guide rail left and right, after No. 2 ring flanges are positioned at the line slideway right-hand member that two root architectures are identical Side；Winding mechanism is arranged on two identical line slideways of structure by the slide block that two structures therein are identical Middle, the connection seat in the cog belt in transmission mechanism and winding mechanism is fixing to be connected.

Base described in technical scheme is rectangular flat plate class formation part, on base relative to base vertical, The horizontal plane of symmetry be arranged symmetrically four structures identical for No. 1 spiral shell connected with No. 3 crossbeams and No. 1 crossbeam Bolt throughhole, on base relative to the longitudinal and transverse plane of symmetry of base be arranged symmetrically four structures identical for pacifying Fill No. 2 bolt holes of two identical contiguous blocks of structure, No. 2 bolt hole being longitudinally arranged 1 along base The outside of number bolt hole, be longitudinally arranged four No. 1 bolt holes and four No. 2 bolts along base lead to Hole be uniformly distributed in two and and longitudinally asymmetric symmetrical parallel plane of base in；On base before and after the most right Ground is claimed to arrange 12 for connecting the counterbore that the structure of two identical line slideways of structure is identical, 12 structures Identical counterbore be evenly distributed in two and and longitudinally asymmetric symmetrical parallel plane of base in, 12 knots The counterbore that structure is identical is positioned at the forward and backward side of No. 2 bolt holes and No. 1 bolt hole, and the right-hand member of base is arranged The tapped through hole for installing No. 2 ring flanges that two structures are identical, the tapped through hole position that two structures are identical Rear side in counterbore；Two identical being used for even of structure are arranged along the most each of base in the left and right two ends of base Connect the screwed hole of two identical baffle plates of structure, the axis of rotation of the screwed hole that four structures are identical and base Left and right both ends of the surface are vertical.

Transmission mechanism described in technical scheme include profile of tooth belt wheel that No. 1 axle, two structures are identical, No. 2 axles, What two structures were identical supports No. 2 axle sleeves that seat, motor, No. 2 shaft couplings and two structures are identical；Two One end supporting seat that individual structure is identical is respectively adopted hexagon socket head cap screw and is arranged on the top of two contiguous blocks, Two contiguous blocks use bolt to be arranged at the left and right end of base, and the two ends of No. 1 axle are installed by rolling bearing In the dead eye supported on seat at base right-hand member, it is left that the two ends of No. 2 axles are arranged on base by rolling bearing In the dead eye supporting seat at end, the middle part of No. 1 axle and No. 2 axles is sequentially installed with the cog belt that structure is identical Wheel, cog belt is sleeved on two identical profile of tooth belt wheels of structure；Motor uses bolt to be arranged on No. 2 The upper end of the supporting walls in ring flange, the output shaft of motor is stretched in the support central through hole from supporting walls Going out, No. 2 ring flanges use bolt to be connected with base, output shaft No. 2 shaft couplings of employing of motor and No. 1 One end of axle connects, and the output shaft of motor, No. 2 shaft couplings and No. 1 axle are coaxially connected, two structure phases With No. 2 axle sleeves be sleeved on successively on No. 1 axle and No. 2 axles of two identical profile of tooth belt wheel sides of structure.

Winding mechanism described in technical scheme includes No. 1 that connecting plate, No. 1 gripper shoe, 2 structures are identical Bearing, No. 1 door, wire spool, No. 3 axles, No. 2 gripper shoes, directive wheel, No. 1 shaft coupling, No. 1 flanges Dish, direct current generator, No. 2 doors, No. 1 axle sleeve and No. 4 axles.The slide block difference that two described structures are identical Be arranged on two line slideways, connect seat by its front and rear sides be horizontally mounted base and two slide blocks Top end face bolt connect, connecting plate uses bolt to be arranged in the horizontal top connected in the middle of seat, No. 1 support Plate and No. 2 gripper shoes are respectively adopted bolt and are arranged on left end and the middle of connecting plate, and No. 1 ring flange uses spiral shell Bolt is arranged on the right-hand member of connecting plate, and the housing of direct current generator output shaft end uses the upper of bolt and No. 1 ring flange End is fixing to be connected, direct current generator output shaft stretch out from the support central through hole of No. 1 ring flange and with No. 1 connection One end of axial organ is fixing to be connected, and one end of the other end of No. 1 shaft coupling and No. 4 axles is fixing to be connected, first 1 Number bearing, No. 1 axle sleeve, wire spool, No. 1 door and second No. 1 bearing are sleeved on No. 4 from right to left On axle, No. 1 door uses screw to be connected with the left side of wire spool, and two identical No. 1 bearings are installed successively In No. 1 gripper shoe dead eye with No. 2 gripper shoes, No. 3 axle right-hand members are arranged on No. 2 by rolling bearing In the dead eye of fagging, directive wheel is sleeved on the other end of No. 3 axles, the plane at directive wheel groove place with The planes overlapping at the groove place on wire spool, No. 2 doors use the left side of screw and directive wheel to fix even Connect.

Rope rehabilitation institution described in technical scheme also includes that No. 1 steel wire rope, No. 3 steel wire ropes, No. 3 power pass Sensor, No. 3 links, No. 4 links, No. 4 steel wire ropes, No. 4 force transducers, Inflated neck set, recovery bed, Emergency stop switch, rehabilitating pillows, No. 2 links, No. 2 force transducers, No. 2 steel wire ropes, two structures are identical Magnetic switch, No. 1 force transducer, displacement transducer and No. 1 link.Described recovery bed it is placed on support On the level ground of the middle position of left and right directions, No. 1 crossbeam in support and the plane at No. 4 crossbeam places Being positioned at the outside of recovery bed one end, the recovery bed other end is positioned at the outside of No. 2 crossbeams in support；Urgent system The dynamic switch arrangement back-end location in the left side of recovery bed bed surface, the most recovery bed on the rear side of groove, health Rest the head on the rear position of the groove being arranged on recovery bed, the central position of the groove that neckstrap is arranged on recovery bed again The surface put, one end of No. 1 steel wire rope, No. 2 steel wire ropes, No. 3 steel wire ropes and No. 4 steel wire ropes successively and No. 1 link in neckstrap, No. 2 links, No. 3 links and No. 4 links connect, No. 1 force transducer, No. 2 Force transducer, No. 3 force transducers and No. 4 force transducers be connected in turn No. 1 steel wire rope, No. 2 steel wire ropes, No. 3 steel wire ropes and the middle of No. 4 steel wire ropes；The magnetic switch that two structures are identical is pasted onto the opening of neckstrap Place, Inflated neck set is arranged on the center of neckstrap, on No. 5 chain-wales that displacement transducer is arranged in neckstrap.

Neckstrap described in technical scheme is the Elastic Circular ring of one end open, and the external cylindrical surface of neckstrap is installed Have No. 1 chain-wales, No. 2 chain-wales, No. 3 chain-wales and No. 4 chain-wales, No. 1 link, No. 2 links, 3 Number link and No. 4 links to be sequentially arranged at No. 1 chain-wales, No. 2 chain-wales, No. 3 chain-wales and No. 4 little On platform, the angle between adjacent two chain-wales is 90 degree, that is No. 1 chain-wales of two, bottom chain-wales with No. 5 chain-wales for installation position displacement sensor are installed in the centre position of No. 4 chain-wales, No. 1 chain-wales, The structure of No. 2 chain-wales, No. 3 chain-wales, No. 4 chain-wales and No. 5 chain-wales is identical；No. 1 link, No. 2 The structure of link, No. 3 links and No. 4 links is identical, No. 1 link, No. 2 links, No. 3 links and No. 4 Link is all made up of the square base of bottom and the annular link on top.

Support described in technical scheme also includes the column that two root architectures are identical, No. 2 crossbeams and No. 4 crossbeams； No. 2 described crossbeams and No. 4 crossbeam horizontal parallel are placed, No. 3 crossbeam horizontal parallel that two root architectures are identical Placing, No. 2 crossbeams are between No. 3 crossbeam one end that two root architectures are identical and use that bolt is fixing to be connected, and two The uprights vertical that root architecture is identical is placed, and No. 4 crossbeams are placed between the column bottom that two root architectures are identical and use Bolt is fixing to be connected, No. 3 crossbeam other ends that two root architectures are identical and the identical column bottom phase of two root architectures Contacting and use the fixing connection of bolt, No. 1 crossbeam is placed between the column top that two root architectures are identical and uses spiral shell Bolt is fixing to be connected, plane that the column that two root architectures are identical, No. 1 crossbeam and No. 4 crossbeams are determined and two root knots No. 3 crossbeams, No. 2 crossbeams that structure is identical are vertical with the plane that No. 4 crossbeams are determined.

Compared with prior art the beneficial effects of the utility model are:

A kind of Wire driven robot parallel connection cervical vertebra rehabilitation device the most described in the utility model can realize four freedom of neckstrap The motion of degree, i.e. three rotate and a translation, and the motion of each degree of freedom can meet patients with cervical rehabilitation The requirement of motion；

A kind of Wire driven robot parallel connection cervical vertebra rehabilitation device the most described in the utility model uses rope as driving unit Part, the kind of drive is flexible, meets the rehabilitation training of different patient, and integral mechanical structure uses simple, easily In operation；

A kind of Wire driven robot parallel connection cervical vertebra rehabilitation device the most described in the utility model uses identical movement Winding mechanism, controls four ropes respectively and realizes the forms of motion that neckstrap is different, it is simple to integral mechanical structure control System and movement output；

The pulling force sensor of a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device the most described in the utility model and displacement Sensor can detect the stressing conditions of each rope and the misalignment of neckstrap in motor process, the most in real time control Rehabilitation training parameters processed, it is achieved power, the Comprehensive Control of displacement.

To sum up, a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model has higher practicality It is worth and wide application prospect, provides a kind of new frame for movement for patients with cervical rehabilitation, for flexibility also The application of connection robot provides a kind of new reference form.

Accompanying drawing explanation

Below in conjunction with the accompanying drawings this utility model is further described:

Fig. 1 is that the axle of a kind of Wire driven robot parallel connection cervical vertebra rehabilitation apparatus structure described in the utility model composition is surveyed Projection；

Fig. 2 is that the master of a kind of Wire driven robot parallel connection cervical vertebra rehabilitation apparatus structure described in the utility model composition regards Figure；

Fig. 3 is the vertical view of a kind of Wire driven robot parallel connection cervical vertebra rehabilitation apparatus structure described in the utility model composition Figure；

Fig. 4 is the left view of a kind of Wire driven robot parallel connection cervical vertebra rehabilitation apparatus structure described in the utility model composition Figure；

Fig. 5 is the movement employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The axonometric projection graph of coiling the 1st mechanism structure composition；

Fig. 6 is the movement employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The top view of coiling the 1st mechanism structure composition；

Fig. 7 is the movement employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The front view of coiling the 1st mechanism structure composition；

Fig. 8 is the rope employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The axonometric projection graph of rehabilitation institution's structure composition；

Fig. 9 is the rope employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The axonometric projection graph of the neckstrap rope arrangement composition in rehabilitation institution；

Figure 10 is the support employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The axonometric projection graph of structure composition；

Figure 11 is the rehabilitation employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The axonometric projection graph of neckstrap structure composition；

Figure 12 is the rehabilitation employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The front view of neckstrap structure composition；

Figure 13 is the movement employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The upward view of the understructure in coiling the 1st mechanism；

Figure 14 is the movement employed in a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model The axonometric projection graph of No. 1 axle construction in coiling the 1st mechanism；

In figure: I. mobile coiling the 1st mechanism, II. mobile coiling the 2nd mechanism, III. mobile coiling the 3rd machine Structure, IV. mobile coiling the 4th mechanism, V. support, VI. rope rehabilitation institution, 1. baffle plate, 2. line slideway, No. 3.1 axle, 4. profile of tooth belt wheel, 5. cog belts, 6. connect seat, 7. slide block, 8. connecting plate, No. 9.1 supports Plate, 10. base, No. 11.2 axles, 12. support seats, 13. contiguous blocks, No. 14.1 bearings, No. 15.1 doors, 16. wire spools, No. 17.3 axles, No. 18.2 gripper shoes, 19. directive wheels, No. 20.1 shaft couplings, No. 21.1 Ring flange, 22. direct current generators, 23. motors, No. 24.2 ring flanges, No. 25.2 shaft couplings, No. 26.2 Door, No. 27.1 steel wire ropes, No. 28.1 axle sleeves, No. 29.4 axles, No. 30.2 axle sleeves, No. 31.3 steel wire ropes, No. 32.3 force transducers, No. 33.3 links, 34. neckstrap, No. 35.4 links, No. 36.4 steel wire ropes, 37.4 Number force transducer, 38. Inflated neck sets, 39. is recovery bed, 40. emergency stop switchs, 41. rehabilitating pillows, and 42.2 Number link, No. 43.2 force transducers, No. 44.2 steel wire ropes, 45. magnetic switch, No. 46.1 force transducers, No. 47.1 crossbeams, 48. columns, No. 49.2 crossbeams, No. 50.3 crossbeams, No. 51.4 crossbeams, 52. displacements pass Sensor, No. 53.1 links, 54. counterbores, No. 55.1 bolt holes, No. 56.2 bolt holes, 57. screw threads lead to Hole, 58. screwed holes, No. 59.1 axle journals, No. 60.2 axle journals, No. 61.3 axle journals, No. 62.4 axle journals, 63.5 Number axle journal.

Detailed description of the invention

Below in conjunction with the accompanying drawings this utility model is explained in detail:

Refering to Fig. 1 to Fig. 4, a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model includes Mobile coiling the 1st mechanism I, mobile coiling the 2nd mechanism II, mobile coiling the 3rd mechanism III, mobile coiling 4th mechanism IV, support V and rope rehabilitation institution VI.

Mobile coiling the 1st mechanism I, mobile coiling the 2nd mechanism II, mobile coiling the 3rd mechanism III are with mobile The structure of coiling the 4th mechanism IV is identical, and they are identical with the connected mode of support V.Mobile around Line the 1st mechanism I is arranged in, with mobile coiling the 4th mechanism IV, No. 3 that two root architectures bottom support V are identical On crossbeam 50, it is symmetrically distributed.Mobile coiling the 2nd mechanism II is arranged in mobile coiling the 3rd mechanism III and props up On No. 1 crossbeam 47 at frame V top.Rope rehabilitation institution VI is arranged in support by four steel wire ropes therein The centre position of V；One end of four steel wire ropes and mobile coiling the 1st mechanism I, mobile coiling the 2nd mechanism II, moving coiling the 3rd mechanism III to be connected with mobile coiling the 4th mechanism IV, the other end of four steel wire ropes depends on The link that secondary and in the neckstrap 34 in rope rehabilitation institution VI four structures are identical connects.

Refering to Fig. 5 to Fig. 7, described mobile coiling the 1st mechanism is by base assembly, transmission mechanism and coil winding machine Structure forms.Wherein:

Described base assembly includes two completely identical in structure baffle plate 1, two identical straight lines of root architecture Guide rail 2, base 10；

Described transmission mechanism include 3, two completely identical in structure profile of tooth belt wheels 4 of No. 1 axle, cog belt 5, 11, two structures of No. 2 axles identical support 12, two contiguous blocks that structure is identical 13 of seat, motor 23, No. 2 axle sleeves 30 that No. 2 ring flanges 25, two structures of 24, No. 2 shaft couplings are identical；

Described winding mechanism includes connecting 6, two slide blocks that structure is identical 7 of seat, connecting plate 8,1 Fagging 14, No. 1 door 15 of 9, No. 1 bearing, wire spool 17, No. 2 gripper shoes 18 of 16, No. 3 axles, lead To wheel 20, No. 1 ring flange 21 of 19, No. 1 shaft coupling, direct current generator 26, No. 1 axle sleeve of 22, No. 2 doors 28, No. 4 axles 29.

The line slideway 2 that two described root architectures are identical uses bolt flat along longitudinally asymmetric symmetry of base 10 It is fixedly mounted on the both sides of base 10 capablely；The baffle plate 1 that two structures are identical respectively uses two bolts fixing even Being connected on two, the left and right end face of base 10, the baffle plate 1 that two structures are identical simultaneously respectively uses two other spiral shell Tether on the left and right end face being connected on the identical line slideway of two root architectures 2；Transmission mechanism passes through two therein Contiguous block 13 and No. 2 ring flanges 24 that structure is identical are fixed on base 10, the connection that two structures are identical At the two ends of the block 13 base 10 between the line slideway 2 that two root architectures are identical, No. 2 ring flanges 24 It is positioned at outer (afterwards) side that the identical line slideway of two root architectures 2 one (right) is held；Winding mechanism is by wherein The identical slide block 7 of two structures be arranged on the middle of two identical line slideways of structure 2, conveyer Cog belt 5 in structure is fixing with the connection seat 6 in winding mechanism to be connected.

The baffle plate 1 that two described structures are identical is rectangular flat plate class formation part, and the lower end of baffle plate 1 is symmetrical Be provided with four bolt holes, two bolt holes of bottom for and the installation at base 10 two ends, bottom Two bolt holes above two bolt holes for and the installation at two line slideway 2 two ends.

The line slideway 2 that two described root architectures are identical is I-shaped strip straight-bar class formation part for cross section, The center of the both ends of the surface of two line slideways 2 is along one screwed hole of processing the most respectively, and two root architectures are identical The length of line slideway 2 is identical with the length of base 10.

Refering to Figure 13, described base 10 is rectangular flat plate class formation part, relative to base on base 10 The 10 longitudinal and transverse planes of symmetry be arranged symmetrically with four identical for No. 3 crossbeams 50 and No. 1 crossbeam 47 even No. 1 bolt hole 55 connect, on base 10 relative to the longitudinal and transverse plane of symmetry of base 10 be arranged symmetrically with four complete Exactly the same 56, No. 2 bolt holes of No. 2 bolt holes for installing two identical contiguous blocks 13 of structure 56 are longitudinally arranged outer (left and right) side at No. 1 bolt hole 55, along the longitudinal direction of base 10 along base 10 Four No. 1 bolt holes 55 and four No. 2 bolt holes 56 of arranging are distributed on two and also indulge with base 10 In the plane that the plane of symmetry is symmetrical parallel.It is arranged symmetrically 12 identical counterbores before and after on base 10 54, it is distributed on for connecting 2,12 identical counterbores 54 of two completely identical in structure line slideways Two and and longitudinally asymmetric symmetrical parallel plane of base 10 in.12 identical counterbores 54 are positioned at No. 2 bolt holes 56 and the forward and backward side of No. 1 bolt hole 55, one (right) end of base 10 arranges two The individual identical tapped through hole 57 for installing No. 2 ring flanges 24, two identical tapped through holes 57 outsides being positioned at the counterbore 54 connecting two completely identical in structure line slideways 2.The left side of base 10, Two identical screwed holes 58, four identical screw threads are arranged along the most each of base 10 in right two ends The axis of rotation in hole 58 is vertical with the left and right both ends of the surface of base 10, and screwed hole 58 is for connecting two structures Identical baffle plate 1.

Refering to Figure 14, described No. 1 axle 3 is multidiameter class formation part, and No. 1 axle 3 is 5 the most respectively Number 63, No. 4 axle journals of axle journal, 61, No. 1 axle journal 59 of 62, No. 3 axle journals and No. 2 axle journals 60.No. 2 axle journals 60 Installing bearing, No. 1 axle journal 59 positions as the axial of profile of tooth belt wheel 4.No. 3 axle journals 61 and profile of tooth belt wheel 4 Coordinating and install, No. 3 axle journals 61 are processed as splined shaft, and the centre bore of profile of tooth belt wheel 4 is processed as splined hole, and two Person coordinates installation.No. 4 axle journals 62 from left to right install bearing and No. 30,2 axle sleeves 30 of No. 2 axle sleeves as tooth The axial location of shape belt wheel 4.No. 5 axle journals 63 are connected with No. 2 shaft couplings 25.

The profile of tooth of the gear parts of the profile of tooth belt wheel 4 that two described structures are identical is joined with the number of teeth and cog belt 5 No. 3 axle journals 61 closing design, the internal diameter size of profile of tooth belt wheel 4 and No. 1 axle 3 coordinate installation, profile of tooth belt wheel The two ends of 4 are the disc protruded.

The described profile of tooth on cog belt 5 inner surface coordinates installation, cog belt 5 with the number of teeth and profile of tooth belt wheel 4 On along two screwed holes of longitudinally asymmetric distribution, cog belt 5 is by two screwed holes and bolt and is connected seat 6 and joins Close and install.

Described connection seat 6 is the symmetrical plate structure part that cross section is " several " font, the left and right sides The overhanging base that is horizontally mounted is respectively arranged four bolt holes, and the be horizontally mounted base overhanging for both sides is adopted With the fixed installation of two slide blocks 7 of bolt and the left and right sides, horizontal top is arranged two bolt holes and four Individual screwed hole, two bolt holes connect for the installation with cog belt 5, and four screwed holes are used for and connect The installation of plate 8 connects.

The slide block 7 that two described structures are identical is all cuboid formula structural member, and one end of slide block 7 is along longitudinally Being provided with for coordinating, with line slideway 2, the T-shaped groove installed, the top of slide block 7 is arranged in vertical Four screwed holes, be horizontally mounted on base four bolt holes of four screwed holes and connection seat 6 are had to align.

Described connecting plate 8 is rectangular flat plate class formation part, and connecting plate 8 is provided with eight bolt holes With two screwed holes, wherein four No. 1 bolt holes are used for and connect the horizontal top cooperation installation of seat 6, No. 2 bolt holes of four additional are for coordinating with the screwed hole bottom No. 2 gripper shoes 18 with No. 1 gripper shoe 9 Installing, two screwed holes on connecting plate 8 are positioned at one (right) end of connecting plate 8, two on connecting plate 8 Individual screwed hole is installed for coordinating with No. 1 ring flange 21.

No. 1 described gripper shoe 9 is the rectangular flat plate class knot that overall dimensions is identical with No. 2 gripper shoes 18 Component, No. 1 gripper shoe 9 one end is provided with a dead eye, No. 2 gripper shoes 18 is disposed with two bearings Hole, the dead eye of No. 1 gripper shoe 9 one end and the dead eye of No. 2 gripper shoe 18 one end align, i.e. No. 1 The dead eye of fagging 9 one end and the axis of rotation conllinear of the dead eye of No. 2 gripper shoe 18 one end, No. 1 support The bottom face of plate 9 and No. 2 gripper shoes 18 is disposed with two equably for the screwed hole connected with connecting plate 8.

No. 2 described axles 11 are similar with No. 1 axle 3 structure, do not have 5 compared to 3, No. 2 axles 11 of No. 1 axle Number axle journal 63 part, other structures are identical, and the effect of each axle journal is complete with No. 1 axle 3 with connected mode Exactly the same.

What two structures were identical supports the fork class formation part that seat 12 is U-shaped for cross section, support seat 12 The groove part of one end is used for installing profile of tooth belt wheel 4 and cog belt 5, to this end, divide on the two side of groove part Not being provided with dead eye, the axis of rotation conllinear in two bearings hole is also perpendicular to two side；Support seat 12 another End arranges two bolt holes for using bolt installation contiguous block 13 being parallel to each other, two bolt holes The axis of rotation spatial vertical in axis of rotation and two bearings hole.

The contiguous block 13 that two described structures are identical is cuboid formula structural member, and the upper end of contiguous block 13 sets Putting two threaded upper ends holes, two threaded upper ends holes align with two bolt holes supported on seat 12, connect The lower end of block 13 arranges two lower end screwed holes, two lower end screwed holes and the installation contiguous block on base 10 The bolt hole of 13 aligns.

Described No. 1 door 15 is disc-like structural member, and center arranges one for installing No. 4 axles 29 Central through hole, central through hole evenly distributed around has four to lead to for the bolt connected with wire spool 16 Hole, the most adjacent angle between two bolt holes is 90 degree.

Described wire spool 16 is disc-like structural member, and wire spool 16 center arranges a center through hole, The equal diameters of the aperture of center through hole and No. 4 axles 29, the axial centre position of wire spool 16 is provided with one Groove, the symmetrical plane of groove is vertical with the axis of rotation of wire spool 16, and groove part facilitates twining of steel wire rope Around, the left end of wire spool 16 is evenly distributed four screwed holes vertically, i.e. uniform around center through hole Four screwed holes of ground distribution, the adjacent angle between two bolt holes is 90 degree.

No. 3 described axles 17 install bearing, directive wheel 19 and No. 2 doors 22 the most successively.No. 2 Door 22 plays the axially location of directive wheel 19 and fixing effect.Bearing inner race and No. 3 axles 17 coordinate peace Dress, outer ring is arranged in No. 2 gripper shoes 18.

Described directive wheel 19 is disc-like structural member, and the axial centre position of directive wheel 19 is provided with a circle The direction recess of annular, the plane of symmetry of direction recess is vertical with the axis of rotation of directive wheel 19, direction recess side Just the guiding of steel wire rope, the center of directive wheel 19 is provided with guide wheel central through hole, the week of guide wheel central through hole Enclosing and be evenly arranged four screwed holes, the adjacent angle between 2 screwed holes is 90 degree.

Described No. 1 shaft coupling 20 and No. 2 shaft couplings 25 are the plum coupling of ML7 with using model.

Described No. 1 ring flange 21 and No. 2 ring flanges 24 are all L-shaped brackets class formation part, with by erecting Straight supporting walls forms with mounting base；It is provided with support central through hole at the upper end center of supporting walls, supports Central through hole surrounding (at angle) is provided with four bolt holes, and mounting base is respectively arranged with two bolt holes.

By rehabilitation, described direct current generator 22 requires that the power needed selects power with displacement with motor 23 Etc. parameter.The product type of direct current generator 22 is JGB37-550, and the product type of motor 23 is 57 Motor.

Described No. 2 doors 26 are disc-like structural member, and center arranges one for installing No. 3 axles 17 Door through hole, the surrounding of door through hole has been evenly arranged four bolts hole, between 2 adjacent bolts hole Angle be that 90, No. 2 doors 26 use bolts to be connected with directive wheel 19 by four bolts hole.

No. 4 described axles 29 install the most successively No. 1 shaft coupling 20, bearing, No. 1 axle sleeve 28, around Drum 16, No. 1 door 15 and bearing.No. 1 axle sleeve 28 plays the axially location of bearing and wire spool 16 Effect.No. 1 door 15 plays the axially location of wire spool 16 and fixing effect.

On No. 3 crossbeams 50 that described mobile coiling the 1st mechanism I is arranged in support V, No. 3 crossbeams 50 One end be symmetrically arranged four screwed holes, i.e. move in coiling the 1st mechanism uses four by its base 10 Hex bolts and No. 3 crossbeams 50 connect, and the two identical line slideways of root architecture 2 are along longitudinally asymmetric parallel Be arranged in the both sides of base 10.Two completely identical in structure baffle plates 1 respectively use two hexagon socket head cap screws solid Surely being connected on two, the left and right end face of base 10, two completely identical in structure baffle plates 1 respectively use two simultaneously Individual hexagon socket head cap screw is connected in the left and right both ends of the surface of the two identical line slideways of root architecture 2.Two knots The identical slide block of structure 7 is respectively cooperating with being arranged on two line slideways 2, and slide block 7 can be led at straight line Linear slide on rail 2.Connect seat 6 and be arranged on the middle position of cog belt 5 and the top of two slide blocks 7 On face, connect seat 6 front and rear sides be horizontally mounted base respectively by four hexagon socket head cap screws and two The top end face of slide block 7 connects.Connecting plate 8 is arranged in the horizontal top connecting seat 6 central authorities, i.e. connecting plate 8 Connected with being connected seat 6 by four hexagon socket head cap screws.Two completely identical in structure contiguous block 13 cloth symmetrically Putting the longitudinal two ends at base 10, two contiguous blocks 13 pass through two hexagon socket head cap screws respectively from base 10 Bottom surface to upper surface connect.One end of two completely identical in structure support seats 12 is sequentially arranged at two knots On the top end face of the contiguous block 13 that structure is identical, the groove of two completely identical in structure support seats 12 aligns mutually, Two are supported seat 12 and are connected by the contiguous block 13 that two hexagon socket head cap screws and two structures are identical respectively, and two The contiguous block 13 that individual structure is identical uses bolt to be arranged at base about 10 two ends.The two ends of No. 1 axle 3 are divided Not being provided with rolling bearing, rolling bearing is arranged in the dead eye supporting seat 12 at base 10 right-hand member.2 The two ends of number axle 11 are separately installed with rolling bearing, and rolling bearing is arranged on the support seat at base 10 left end In the dead eye of 12, No. 1 axle 3 is sequentially installed with the profile of tooth belt wheel 4 that structure is identical with the middle part of No. 2 axles 11. Cog belt 5 is sleeved on two identical profile of tooth belt wheels 4 of structure, and four screws are passed through at the middle part of cog belt 5 Connect with being connected seat 6.No. 2 axle sleeves 30 that two structures are identical are sleeved on two identical profiles of tooth of structure successively On No. 1 axle 3 of belt wheel 4 both sides and No. 2 axles 11.Motor 23 and the supporting walls of No. 2 ring flanges 24 The support central through hole of upper end is co-axially mounted cooperation, four bolt holes on No. 2 ring flanges 24 and stepping electricity Four screwed holes on machine 23 are connected by screw, and No. 2 ring flanges 24 are by two hexagon socket head cap screws and base 10 connect.The motor shaft of motor 23, No. 2 shaft couplings 25 are coaxially connected with No. 1 axle 3.No. 1 axle 3 Coaxially connected with No. 2 shaft coupling 25 end hole, No. 2 axle sleeves 30 and profile of tooth belt wheel 4 respectively.No. 1 gripper shoe 9 and No. 2 gripper shoes 18 are separately mounted to left end and the middle of connecting plate 8, respectively by two screws and company Fishplate bar 8 connects.Direct current generator 22 and 21, No. 1 shaft coupling of No. 1 ring flange, 29, No. 1 axle of 20, No. 4 axles Set 28 and wire spool 16 are coaxially connected；The housing of direct current generator 22 output shaft end uses three hexagon socket head cap screws Fixing with the upper end of No. 1 ring flange 21 and be connected, direct current generator 22 output shaft is from the support of No. 1 ring flange 21 Central through hole stretches out and fixing with one end of No. 1 shaft coupling 20 is connected, the other end of No. 1 shaft coupling 20 and One end of No. 4 axles 29 is fixing to be connected, 14, No. 1 axle sleeve of first No. 1 bearing 28 and wire spool 16,1 Door 15 and second No. 1 bearing 14 are sleeved on No. 4 axles 29 from right to left.No. 1 ring flange 21 is pacified It is contained in (one) right-hand member of connecting plate 8, is connected by two hexagon socket head cap screws are fixing with connecting plate 8.No. 1 gear Lid 15 is connected with the left side of wire spool 16 by four screws.Two identical No. 1 bearings 14 are pacified respectively It is contained in the dead eye of No. 1 gripper shoe 9 and No. 2 gripper shoes 18.No. 3 axle 17 1 (right) ends are by rolling Bearing is arranged in the dead eye of No. 2 gripper shoes 18.The other end of No. 3 axles 17 coaxially fills with directive wheel 19 Join, the plane at directive wheel 19 groove place and the planes overlapping at wire spool 16 groove place.No. 2 doors 26 It is connected by four screws are fixing with the left side of directive wheel 19.

Refering to Fig. 8 and Fig. 9, described rope rehabilitation institution VI includes 27, No. 3 steel wire ropes of No. 1 steel wire rope 31,32, No. 3 links 33 of No. 3 force transducers, neckstrap 35, No. 4 steel wire ropes 36,4 of 34, No. 4 links Number force transducer 37, Inflated neck set 38, recovery bed 39, emergency stop switch 40, rehabilitating pillows 41,2 Link 43, No. 2 steel wire ropes 44 of 42, No. 2 force transducers, magnetic switch 45, No. 1 force transducer 46, position Displacement sensor 52 and No. 1 link 53.

No. 1 described steel wire rope 44, No. 3 steel wire ropes 31 of 27, No. 2 steel wire ropes with No. 4 steel wire ropes 36 are Identical four steel wire ropes of length, a diameter of 2mm of steel wire rope.46, No. 2 power of No. 1 force transducer pass 43, No. 3 force transducers 32 of sensor and No. 4 force transducers 37 are identical pulling force sensor, pulling force The precision of sensor and range combine the actual demand of patients with cervical rehabilitation and select.No. 1 link 53,2 42, No. 3 links 33 of link and No. 4 links 35 are identical four links, and link includes bottom The annular link two parts on square base and top.Neckstrap 34 is the Elastic Circular ring of one end open, neck With install on the external cylindrical surface of 34 that is No. 1 chain-wales of four chain-wales, No. 2 chain-wales, No. 3 chain-wales, 4 Number chain-wales, facilitates 53, No. 2 links of that is No. 1 link of four links, 33, No. 4 links of 42, No. 3 links The installation successively of 35, the angle between adjacent two chain-wales is 90 degree, and two, bottom chain-wales i.e. installs 1 No. 5 chain-wales are installed in the centre position of two chain-wales of number link 53 and No. 4 links 35, convenient The installation of displacement transducer 52.Inflated neck set 38 is rubber based elastic structural member, and one end is by rubber tube even Connect ball.Recovery bed 39 is ordinary hospital bed structure, and the sick bed of neckstrap 34 bottom is machined with groove, convenient Patients with cervical rehabilitation and the motion of steel wire rope.Rehabilitating pillows 41 is common pillow structure, according to human body head and neck The level of comfort design of vertebra.Magnetic switch 45 is strip magnetic elements.

Recovery bed 39 middle positions being placed on support V left and right directions, No. 1 crossbeam 47 and No. 4 crossbeams 51 The plane at place is positioned at the outside of recovery bed 39 one end, and recovery bed 39 are placed on level ground, recovery bed The other end of 39 is positioned at the outside of No. 2 crossbeams 49 in support V.Emergency stop switch 40 is arranged in recovery bed The back-end location in the left side of the bed surface of 39, i.e. groove on recovery bed 39.Rehabilitating pillows 41 is arranged in health The rear position of multiple bed 39 groove.Neckstrap 34 is arranged in just going up of the middle position of the groove on recovery bed 39 Side, neckstrap 34 is respectively fixedly connected with four on angle is 90 degree four chain-wales between adjacent two Link, i.e. No. 1 link 42, No. 3 links 33 of 53, No. 2 links and No. 4 links 35, four structures are identical Link be pasted onto in neckstrap 34.No. 1 steel wire rope 27 is divided into two sections, and the one ends wound of epimere is moving In the groove of the wire spool 16 of coiling the 1st mechanism I, the other end of epimere and the one of No. 1 force transducer 46 End is connected, and one end of hypomere is connected with the other end of No. 1 force transducer 46, the other end of hypomere and No. 1 extension Ring 53 is connected.In like manner, 44, No. 2 force transducers 43 of No. 2 steel wire ropes are connected with No. 2 links 42, No. 3 31, No. 3 force transducers 32 of steel wire rope are connected with No. 3 links 33,36, No. 4 force transducers of No. 4 steel wire ropes 37 are connected with No. 4 links 35, and connected mode is identical.The magnetic switch 45 that two structures are identical glues Being attached to the opening part of neckstrap 34, two magnetic switch 45 can be pasted together time close together, play envelope Close the effect of neckstrap 34.Inflated neck set 38 is arranged in the central authorities of neckstrap 34, and pinching ball makes it repeatedly send out Inflated neck set 38 expansion can be made during raw deformation, fit together with patients with cervical.Displacement transducer 52 is installed On No. 5 chain-wales between No. 4 links 35 and No. 1 link 53, it is achieved that be connected with neckstrap 34 Together.

Refering to Figure 10, described support V include No. 1 crossbeam 47, the two identical column of root architecture 48, No. 2 identical No. 3 crossbeams 50 of crossbeam 49, two root architecture and No. 4 crossbeams 51.

No. 1 described crossbeam 47 is rectangular strip class formation part for cross section, and upper surface is symmetrical arranged eight Individual screwed hole.The column 48 that two root architectures are identical is foursquare strip class formation part for cross section, two root knots The upper end of the column 48 that structure is identical is provided with two be parallel to each other and bolt holes in a horizontal plane that exist together, The lower end of the column 48 that two root architectures are identical is provided with two orthogonal bolt holes, and two are mutually perpendicular to The axis of rotation of bolt hole be belonging to space crossed vertically, i.e. returning of two orthogonal bolt holes In shaft axis no longer same level.No. 2 crossbeams 49 are rectangular strip class formation parts for cross section, two Hold along two tapped blind holes of the most each distribution, in the distance between two tapped blind holes and No. 3 crossbeam 50 one end Two bolt holes between distance equal.No. 3 crossbeams 50 are rectangular strip class formation parts for cross section, The upper surface of No. 3 crossbeam 50 one end is symmetrically distributed four screwed holes, No. 3 crossbeam 50 one end and upper surface Transversely being distributed two bolt holes on adjacent side end face, the other end of No. 3 crossbeams 50 is along genesis analysis one Individual tapped blind hole, this tapped blind hole aligns with the bolt hole of the lower end of column 48.The two ends of No. 4 crossbeams 51 Along one tapped blind hole of the most each distribution.

Described No. 2 crossbeams 49 and No. 4 crossbeam 51 horizontal parallel are placed, No. 3 horizontal strokes that two root architectures are identical Beam 50 horizontal parallel is placed, No. 2 crossbeams 49 between No. 3 crossbeam 50 one end that two root architectures are identical also Using the fixing connection of two hexagon socket head cap screws, the column 48 that two root architectures are identical is disposed vertically, No. 4 crossbeams 51 It is placed between two root architectures identical column 48 bottom and uses the fixing connection of a hexagon socket head cap screw, two root knots No. 3 crossbeam 50 other ends that structure is identical and the identical one side joint, column 48 bottom of two root architectures are also adopted Connecting with a hexagon socket head cap screw is fixing, No. 1 crossbeam 47 is placed between two root architectures identical column 48 top And use the fixing connection of two hexagon socket head cap screws；48, No. 1 crossbeam 47 of column that two structures are identical and No. 4 Crossbeam 51 forms YZ plane framework；50, No. 2 crossbeams 49 of No. 3 crossbeams that two structures are identical and No. 4 horizontal strokes Beam 51 forms X/Y plane framework；YZ plane framework is mutually perpendicular to X/Y plane framework.

The operation principle of a kind of Wire driven robot parallel connection cervical vertebra rehabilitation device described in the utility model:

Motor 23 receives control signal, makes the stepping electricity of outfit decelerator according to given semaphore request Machine 23 reaches certain rotating speed, and the output shaft of motor 23 drives No. 1 axle 3 to reach same rotational speed, No. 1 axle The profile of tooth belt wheel 4 of upper suit reaches same rotational speed.The rotation of profile of tooth belt wheel 4 drives cog belt 5 to move linearly, Before and after the rotating campaign of profile of tooth belt wheel 4 makes cog belt 5, (left and right) is mobile, before and after cog belt 5 (left and right) The mobile winding mechanism made on connecting plate 8 moves forward and backward.Direct current generator 22 receives control signal, according to giving Fixed semaphore request makes the direct current generator 22 of outfit decelerator reach certain rotating speed, the motor of direct current generator 22 Axle drives No. 4 axles 29 to reach same rotational speed, and on No. 4 axles 29, the wire spool 16 of assembling reaches same rotational speed, The motion rotating drive steel wire rope of wire spool 16, the rotating campaign of wire spool 16 makes rope stretch contract Short.Rope stretch can be by directive wheel 19 during shortening, and directive wheel 19 plays the work of guide steel wire rope With.

The rotating campaign of motor 23 can realize winding mechanism and move forward and backward, and direct current generator 22 is just Return motion realizes elongation and the shortening of steel wire rope.Four groups are moved winding mechanism and both can individually control respective Motion, it is also possible to cooperate.

Cervical vertebra rehabilitation patient lies on recovery bed 39, is worn at the cervical vertebra of oneself by Inflated neck set 38, with Time electromagnetic switch 45 close, neckstrap 34 reaches closure state.Pinching, to the ball of neck set 38 inflation, is filled Gas neck set 38 constantly expands, and Inflated neck overlaps 38 and neckstrap 34 is fitted and patients with cervical reaches comfortable state. Initial position is middle position and the displacement transducer 52 that displacement transducer 52 is in the groove on recovery bed 39 The position concordant with the upper surface of recovery bed 39, bottom surface.Mobile coiling the 1st mechanism I, mobile coiling the 2nd Mechanism II, mobile coiling the 3rd mechanism III apply active force with mobile coiling the 4th mechanism IV simultaneously, No. 1 steel wire Restricting 44, No. 3 steel wire ropes 31 of 27, No. 2 steel wire ropes and the tensionings simultaneously of No. 4 steel wire ropes 36, duty is opened Begin.If done not feel like oneself during Rehabilitation, emergency stop switch 40, mobile coiling the 1st can be pressed Mechanism I, mobile coiling the 2nd mechanism II, mobile coiling the 3rd mechanism III and the meeting of mobile coiling the 4th mechanism IV Quit work, make patient be in comfort conditions.

Physician in view patients with cervical pathological changes situation, assigns associated treatment measure, determines motor according to remedy measures The parameter of operating parameters, force transducer and displacement transducer, moves winding mechanism input to each as requested Parameter, observational ability sensor and the output parameter of displacement transducer, according to theoretical case and actual output, Constantly adjust, be finally reached the purpose of rehabilitation cervical vertebra.

This utility model can realize the self-movement of four degree of freedom of cervical vertebra rehabilitation, again can be by four degree of freedom Motion synthesizes the forms of motion meeting Rehabilitation demand.Four degree of freedom are for turning about the X axis, around Y-axis Rotate, turn about the Z axis and move along the x-axis.Use four Wire driven robot, survey according to four pulling force sensors The different pulling force of amount, in conjunction with the position of patients with cervical and the displacement information of displacement sensor, it is simple to power position The integration of information and Comprehensive Control, finally realize the purpose of rehabilitation cervical vertebra.

Claims (8)

1. a Wire driven robot parallel connection cervical vertebra rehabilitation device, it is characterised in that described a kind of Wire driven robot is also Connection cervical vertebra rehabilitation device includes mobile coiling the 1st mechanism (I), mobile coiling the 2nd mechanism (II), moves Dynamic coiling the 3rd mechanism (III), mobile coiling the 4th mechanism (IV), support (V) and rope rehabilitation institution (Ⅵ)；

Described mobile coiling the 1st mechanism (I), mobile coiling the 2nd mechanism (II), mobile coiling the 3rd Mechanism (III) is identical with the structure of mobile coiling the 4th mechanism (IV), mobile coiling the 1st mechanism (I) 3 identical with two root architectures that mobile coiling the 4th mechanism (IV) is symmetrically mounted at support (V) bottom On number crossbeam (50)；Mobile coiling the 2nd mechanism (II) is arranged on mobile coiling the 3rd mechanism (III) On No. 1 crossbeam (47) at support (V) top；Rope rehabilitation institution (VI) is arranged in support (V) Centre position, one end of four steel wire ropes in rope rehabilitation institution (VI) successively with mobile coiling the 1st Mechanism (I), mobile coiling the 2nd mechanism (II), mobile coiling the 3rd mechanism (III) and mobile coiling the 4th Mechanism (IV) connect, the other end of four steel wire ropes successively with the neckstrap (34) in rope rehabilitation institution (VI) On the identical link of four structures connect.

2. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 1, it is characterised in that described Mobile coiling the 1st mechanism (I) be made up of with winding mechanism base assembly, transmission mechanism；

Described base assembly includes the baffle plate (1) that two structures are identical, the line slideway that two root architectures are identical (2) with base (10)；

The line slideway (2) that two described root architectures are identical uses bolt along longitudinally asymmetric of base (10) It is fixedly mounted on the both sides of base (10) symmetrical parallelly；The baffle plate (1) that two structures are identical respectively uses two Individual bolt is fixedly connected on two, the left and right end face of base (10), the baffle plate (1) that two structures are identical simultaneously Two other is respectively used to be bolted on the left and right end face of the identical line slideway of two root architectures (2)；Transmission Mechanism is fixed on base by the contiguous block (13) that two structures therein are identical with No. 2 ring flanges (24) (10), on, it is left that the contiguous block (13) that two structures are identical is positioned at the identical line slideway of two root architectures (2) On base (10) between right-hand member, No. 2 ring flanges (24) are positioned at the identical line slideway of two root architectures (2) The rear side of right-hand member；Winding mechanism is arranged on two structure phases by the slide block (7) that two structures therein are identical The middle of same line slideway (2), the cog belt (5) in transmission mechanism and the connection in winding mechanism Seat (6) is fixing to be connected.

3. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 2, it is characterised in that described Base (10) be rectangular flat plate class formation part, on base (10) relative to base (10) vertical, The horizontal plane of symmetry be arranged symmetrically four structures identical for No. 3 crossbeams (50) and No. 1 crossbeam (47) No. 1 bolt hole (55) connected, relative to the longitudinal and transverse plane of symmetry pair of base (10) on base (10) No. 2 bolts claiming the contiguous blocks (13) identical for two structures of installation that ground four structures of layout are identical lead to Hole (56), No. 2 bolt hole (56) being longitudinally arranged No. 1 bolt hole (55) along base (10) Outside, along be longitudinally arranged four No. 1 bolt hole (55) and four No. 2 bolts of base (10) Through hole (56) be uniformly distributed in two and and longitudinally asymmetric symmetrical parallel plane of base (10) in； 12 front and back it are arranged symmetrically for connecting two identical line slideways (2) of structure on base (10) The counterbore (54) that structure is identical, the counterbore (54) that 12 structures are identical is evenly distributed in two and and base (10), in longitudinally asymmetric symmetrical parallel plane, the counterbore (54) that 12 structures are identical is positioned at No. 2 spiral shells Bolt throughhole (56) and the forward and backward side of No. 1 bolt hole (55), the right-hand member of base (10) arranges two The tapped through hole (57) for installing No. 2 ring flanges (24) that structure is identical, the screw thread that two structures are identical Through hole (57) is positioned at the rear side of counterbore (54)；The left and right two ends of base (10) are along base (10) The most each screwed hole (58) for connecting two identical baffle plates (1) of structure arranging that two structures are identical, The axis of rotation of the screwed hole (58) that four structures are identical is vertical with the left and right both ends of the surface of base (10).

4. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 2, it is characterised in that described Transmission mechanism include the identical profile of tooth belt wheel (4) of No. 1 axle (3), two structures, No. 2 axles (11), two Support seat (12) that individual structure is identical, motor (23), No. 2 shaft couplings (25) are identical with two structures No. 2 axle sleeves (30)；

The one end of the support seat (12) that two structures are identical is respectively adopted hexagon socket head cap screw and is arranged on two connections On the top of block (13), the left and right end that two contiguous blocks (13) use bolt to be arranged on base (10) Place, the two ends of No. 1 axle (3) are arranged on the support seat (12) at base (10) right-hand member by rolling bearing On dead eye in, the two ends of No. 2 axles (11) by rolling bearing be arranged at base (10) left end In the dead eye of support seat (12), No. 1 axle (3) is sequentially installed with structure phase with the middle part of No. 2 axles (11) Same profile of tooth belt wheel (4), cog belt (5) is sleeved on two identical profile of tooth belt wheels (4) of structure；Step Entering motor (23) uses bolt to be arranged on the upper end of the supporting walls in No. 2 ring flanges (24), motor (23) output shaft stretches out in the support central through hole from supporting walls, and No. 2 ring flanges (24) use bolt Being connected with base (10), the output shaft of motor (23) uses No. 2 shaft couplings (25) and No. 1 axle (3) one end connects, the output shaft of motor (23), No. 2 shaft couplings (25) and No. 1 axle (3) Coaxially connected, No. 2 axle sleeves (30) that two structures are identical are sleeved on two identical cog belts of structure successively On No. 1 axle (3) of wheel (4) side and No. 2 axles (11).

5. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 2, it is characterised in that described Winding mechanism include connecting plate (8), No. 1 gripper shoe (9), No. 1 bearing (14) that 2 structures are identical, No. 1 door (15), wire spool (16), No. 3 axles (17), No. 2 gripper shoes (18), directive wheel (19), No. 1 shaft coupling (20), No. 1 ring flange (21), direct current generator (22), No. 2 doors (26), No. 1 axles Set (28) and No. 4 axles (29)；

The slide block (7) that two described structures are identical is separately mounted on two line slideways (2), connects Seat (6) is connected by the top end face bolt being horizontally mounted base and two slide blocks (7) of its front and rear sides, Connecting plate (8) uses bolt to be arranged in the horizontal top connected in the middle of seat (6), No. 1 gripper shoe (9) It is respectively adopted bolt with No. 2 gripper shoes (18) and is arranged on left end and the middle of connecting plate (8), No. 1 method Blue dish (21) uses the right-hand member that bolt is arranged on connecting plate (8), the shell of direct current generator (22) output shaft end Body uses the fixing connection in upper end of bolt and No. 1 ring flange (21), and direct current generator (22) output shaft is from 1 The support central through hole of number ring flange (21) stretches out and fixing with one end of No. 1 shaft coupling (20) is connected, The other end of No. 1 shaft coupling (20) and one end of No. 4 axles (29) are fixing to be connected, first No. 1 bearing (14), No. 1 axle sleeve (28), wire spool (16), No. 1 door (15) and second No. 1 bearing (14) from the right side to Being sleeved on No. 4 axles (29), No. 1 door (15) uses the left side of screw and wire spool (16) leftly Connecting, two identical No. 1 bearing (14) are sequentially arranged at No. 1 gripper shoe (9) and No. 2 gripper shoes (18) Dead eye in, No. 3 axle (17) right-hand members are arranged on the dead eye of No. 2 gripper shoes (18) by rolling bearing In, directive wheel (19) is sleeved on the other end of No. 3 axles (17), directive wheel (19) groove place The planes overlapping at the groove place in plane and wire spool (16), No. 2 doors (26) use screws and guiding The left side of wheel (19) is fixing to be connected.

6. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 1, it is characterised in that described Rope rehabilitation institution (VI) also include No. 1 steel wire rope (27), No. 3 steel wire ropes (31), No. 3 power sensings Device (32), No. 3 links (33), No. 4 links (35), No. 4 steel wire ropes (36), No. 4 force transducers (37), Inflated neck set (38), recovery bed (39), emergency stop switch (40), rehabilitating pillows (41), No. 2 links (42), No. 2 force transducers (43), No. 2 steel wire ropes (44), the magnetic switch (45) that two structures are identical, No. 1 power Sensor (46), displacement transducer (52) and No. 1 link (53)；

On the level ground of the middle position that described recovery bed (39) are placed on support (V) left and right directions, No. 1 crossbeam (47) in support (V) is positioned at recovery bed (39) with the plane at No. 4 crossbeam (51) places The outside of one end, the other end of recovery bed (39) is positioned at the outside of No. 2 crossbeams (49) in support (V)； Emergency stop switch (40) is arranged in the back-end location in the left side of the bed surface of recovery bed (39), the most recovery bed (39) rear side of the groove on, rehabilitating pillows (41) is arranged in the back side of the groove on recovery bed (39) Putting, neckstrap (34) is arranged in the surface of the middle position of the groove on recovery bed (39), No. 1 steel wire rope (27), No. 2 steel wire ropes (44), No. 3 steel wire ropes (31) and No. 4 steel wire ropes (36) one end successively and No. 1 link (53) in neckstrap (34), No. 2 links (42), No. 3 links (33) and No. 4 links (35) Connect, No. 1 force transducer (46), No. 2 force transducers (43), No. 3 force transducers (32) and No. 4 power Sensor (37) is connected to No. 1 steel wire rope (27), No. 2 steel wire ropes (44), No. 3 steel wire ropes (31) in turn Middle with No. 4 steel wire ropes (36)；The magnetic switch (45) that two structures are identical is pasted onto neckstrap (34) Opening part, Inflated neck set (38) is arranged on the center of neckstrap (34), and displacement transducer (52) is pacified It is contained on No. 5 chain-wales in neckstrap (34).

7. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 1 or 6, it is characterised in that The described Elastic Circular ring that neckstrap (34) is one end open, the external cylindrical surface of neckstrap (34) is provided with 1 Number chain-wales, No. 2 chain-wales, No. 3 chain-wales and No. 4 chain-wales, No. 1 link (53), No. 2 links (42), No. 3 links (33) and No. 4 links (35) be sequentially arranged at No. 1 chain-wales, No. 2 chain-wales, No. 3 On chain-wales and No. 4 chain-wales, the angle between adjacent two chain-wales is 90 degree, two, bottom chain-wales The centre position of i.e. No. 1 chain-wales and No. 4 chain-wales installs one for the 5 of installation position displacement sensor (52) Number chain-wales, No. 1 chain-wales, No. 2 chain-wales, No. 3 chain-wales, No. 4 chain-wales and No. 5 chain-wales Structure is identical；No. 1 link (53), No. 2 links (42), No. 3 links (33) and No. 4 links (35) Structure identical, No. 1 link (53), No. 2 links (42), No. 3 links (33) and No. 4 links (35) All it is made up of the square base of bottom and the annular link on top.

8. according to the Wire driven robot parallel connection cervical vertebra rehabilitation device described in claim 1, it is characterised in that described Support (V) also include column (48) that two root architectures are identical, No. 2 crossbeams (49) and No. 4 crossbeams (51)；

No. 2 described crossbeams (49) are placed with No. 4 crossbeam (51) horizontal parallel, two root architectures identical 3 Number crossbeam (50) horizontal parallel is placed, and No. 2 crossbeams (49) are positioned at No. 3 crossbeams (50) that two root architectures are identical Between one end and use that bolt is fixing to be connected, the column (48) that two root architectures are identical is disposed vertically, No. 4 crossbeams (51) it is placed between two root architectures identical column (48) bottom and uses the fixing connection of bolt, two root knots No. 3 crossbeam (50) other ends that structure is identical and identical column (48) bottom of two root architectures contact and adopt Connecting with bolt is fixing, No. 1 crossbeam (47) is placed between two root architectures identical column (48) top and adopts Connect with bolt is fixing, the column (48) that two root architectures are identical, No. 1 crossbeam (47) and No. 4 crossbeams (51) No. 3 crossbeams (50) that the plane determined is identical with two root architectures, No. 2 crossbeams (49) and No. 4 crossbeams (51) The plane determined is vertical.