CN208447873U - A kind of multi-pose spinal three-dimensional correction robot - Google Patents
A kind of multi-pose spinal three-dimensional correction robot Download PDFInfo
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- CN208447873U CN208447873U CN201721767613.3U CN201721767613U CN208447873U CN 208447873 U CN208447873 U CN 208447873U CN 201721767613 U CN201721767613 U CN 201721767613U CN 208447873 U CN208447873 U CN 208447873U
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Abstract
A kind of multi-pose spinal three-dimensional correction robot, including spine correcting system 1, angle of back-rest regulating system 2, chair angle regulating system 3, thigh support design factors regulating system 4 and foundation means 5.The chair angle regulating system includes seat base and three electric cylinders, and seat base is mounted in foundation means by three electric cylinders；Spine correcting system is mounted in angle of back-rest regulating system, and angle of back-rest regulating system and thigh support design factors regulating system are separately mounted on the seat base of chair angle regulating system.The spine correcting system includes the first rectification module being composed of two 2-UPU parallel institutions and a 2-UPU mechanism forms the second rectification module, it can be achieved that multiple spot three-dimensional spine correcting, which also has the function of traction and chiropractic.The angle of back-rest regulating system, chair angle regulating system and thigh support design factors regulating system can carry out the postural change of different postures to human body.
Description
Technical field
The utility model relates to medical machinery apparatus field, in particular to a kind of three dimensional physical method correction scoliosis
Multi-pose spinal three-dimensional corrects robot.
Background technique
Scoliosis is a kind of pathological state, it is a kind of three-dimensional deformity of backbone, including Coronal, sagittal plain and axle position
On sequence variation.Its disease incidence in crowd is about 1%-3%, wherein shared by adolescent idiopathic scoliosis disease incidence
Toatl proportion highest, about 75%-80%.And wherein the convex patient in women side is significantly more than male patient.Since scoliosis is straight
The appearance for affecting patient, cardio-pulmonary function are connect, serious person can cause to paralyse, and greatly reduce the life quality of patient.It is existing
Treatment method in, be exactly the operative treatment of doctor trained in Western medicine other than the conservative treatment of Chinese medicine, and the operative treatment of doctor trained in Western medicine is to slight
Scoliosis have no idea, can only wait until just perform an operation when severe, expensive expense of performing the operation allows many patient homes
Rupture, and not only patient will bear very big pain, risk is also very big, also with many sequelae, it is postoperative to patient with
Next lifelong regrets, and effect is not also permanent, so a kind of method for being badly in need of No operation goes the treatment for scoliosis.
Many institutes of traditional Chinese medicine are only individually fixed using brace at present, massage, traction, and the methods of physical therapy goes to intervene the state of an illness, but
It is the deterioration that can not all prevent the state of an illness.And the methods of brace fixation, wear and unload when in use inconvenience.Brace is to body
The bad control of oppressive force, be difficult to adjust to optimal oppression state, while a set of corrective brace is difficult to adapt to different backbones
Ill individual, and backbone is a kind of three-dimensional deformity, and the purpose of three-dimensional correction is not achieved in many apparatus for correcting.
Utility model content
The purpose of the utility model is to overcome above-mentioned problem existing in the prior art and deficiency, researching and designing is a kind of more
Posture spinal three-dimensional corrects robot.It multiple positions and angle can implement correction simultaneously, reach really to vary with each individual and control
Disease, while the robot also has the function of traction and chiropractic.
The technical solution of the utility model
A kind of multi-pose three-dimensional spine correcting machine people, the robot include spine correcting system 1, angle of back-rest adjusting system
System 2, chair angle regulating system 3, thigh support design factors regulating system 4 and foundation means 5；The foundation means include one
A complete machine base plate, the chair angle regulating system include seat base and three electric cylinders, and seat base passes through three electricity
Dynamic cylinder is mounted on the complete machine base plate of foundation means；The spine correcting system is mounted in angle of back-rest regulating system, chair
Dorsal horn degree regulating system is mounted on the rear end of the seat base of chair angle regulating system, and the thigh support design factors are adjusted
System is mounted on the front end of the seat base of chair angle regulating system.
The spine correcting system 1 includes 10 He of the first rectification module being composed of two 2-UPU parallel institutions
The second rectification module 11 being made of a 2-UPU mechanism: first rectification module includes fixed platform A-1005, corrects dynamic put down
Platform A-1011 and correction moving platform B-1012, sagittal plane angular adjustment motor A1-1001 and electric pushrod A1-1003 pass through Hooke
Hinge A1-1002 is mounted on one end of fixed platform A, and the other end of electric pushrod A1-1003 is mounted on strong by Hooke's hinge A2-1004
On the surface of the opposite side of positive moving platform A-1011 corresponding end, another side surface of correction moving platform A-1011 corresponding end passes through
Hooke's hinge A3-1014 is equipped with sagittal plane angular adjustment motor A2-1013 and electric pushrod A2-1015, electric pushrod A2-1015
The other end by Hooke's hinge A4-1016 be mounted on correction moving platform B-1012 corresponding end opposite side surface on；It allocates
The middle part of platform A-1005 is equipped with coronal plane angularity by Hooke's hinge B1-1007 and adjusts motor B1-1006 and electric pushrod B1-
The other end of 1008, electric pushrod B1-1008 are mounted on correction moving platform A-1011 corresponding position by Hooke's hinge B2-1009
On the surface of opposite side, another side surface of correction moving platform A-1011 corresponding position is equipped with by Hooke's hinge B3-1018
Coronal plane angularity adjusts motor B2-1017 and electric pushrod B2-1019, and the other end of electric pushrod B2-1019 passes through Hooke's hinge
B4-1020 is mounted on the surface of the opposite side of correction moving platform B-1012 corresponding position；Second rectification module includes
Fixed platform B-1105 and correction moving platform C-1110, sagittal plane angular adjustment motor A3-1101 and electric pushrod A3-1103 pass through
Hooke's hinge A5-1102 is mounted on one end of correction moving platform C-1110, and the other end of electric pushrod A3-1103 passes through Hooke's hinge
A6-1104 is mounted on the surface of the opposite side of the corresponding end of correction moving platform C-1110, in the middle part of fixed platform B-1105
Coronal plane angularity is installed by Hooke's hinge B5-1107 and adjusts motor B3-1106 and electric pushrod B3-1108, electric pushrod B3- in side
1108 other end is mounted on the surface of the opposite side of the corresponding position of correction moving platform C-1110 by Hooke's hinge B6-1109
On.Fixed platform A-1005, correction moving platform A-1011 and correction moving platform B-1012 in first rectification module, and
Fixed platform B-1105 and correction moving platform C-1110 in second rectification module are semicircle；The sagittal plane angular adjustment electricity
The motor shaft of machine A1-1001 and coronal plane angularity adjusting motor B1-1006 are orthogonal and by the semicircle center of circle；The sagittal face angle
The motor shaft of degree adjusting motor A2-1013 and coronal plane angularity adjusting motor B2-1017 are orthogonal and by the semicircle center of circle；It is described
The motor shaft of sagittal plane angular adjustment motor A3-1101 and coronal plane angularity adjusting motor B3-1106 are orthogonal and by semicircle
The center of circle.
The angle of back-rest regulating system 2 includes -207, two chair back rack -201, chair back rack chassis electric pushrod C-
203 and a rotation connection axis A-202, -207 upper end of chair back rack chassis be hingedly mounted on the rear end of seat base, rotate
Connecting shaft A-202 is passed through by -207 lower end of chair back rack chassis, be rotatablely connected axis A-202 both ends respectively with two electric pushrod C-
203 one end connection, the other end of two electric pushrod C-203 are mounted on the back side two sides of seat base, and chair back rack -201 is pacified
Mounted in the upper end of chair back rack chassis -207；The spine correcting system (1) is mounted on chair back rack -201.The chair back rack-
201 and chair back rack chassis -207 split type structure can be made, an entirety can also be made.
It is present that the upper end of three electric cylinders in the chair angle regulating system 3 passes through the installation of rotational support pedestal respectively
The back side of seat base, two of them rotational support pedestal are mounted on the front end two sides of seat base, another rotational support pedestal
It is mounted on the rear end of seat base, three rotational support pedestals are distributed in isosceles triangle, and the lower end of two electric cylinders in front end is hung down
It is directly fixed on the complete machine base plate of foundation means, the lower end of another electric cylinder is mounted on the middle separated time of two vertical electric cylinders
On complete machine base plate on.The lower end of three electric cylinders may be mounted on straight line.
The thigh support design factors regulating system 4 turns including two pieces of thigh support boards, two electric pushrods and two
Dynamic support ring, the upper end of two pieces of thigh support boards are respectively articulated with the front end for being mounted on seat base, two electric pushrods
One end is respectively articulated with the middle part for being mounted on two pieces of thigh support boards, and the other end of two electric pushrods, which is respectively articulated with, is mounted on suit
On the rotational support ring on two vertical electric cylinders in seat angular adjustment system.
The back side four corners of the complete machine base plate of the foundation means 5 are also respectively equipped with a universal wheel respectively.
The advantages of the utility model and the utility model has the advantages that
1, the spine correcting machine people it is dynamic flat can to adjust each correction according to the specificity of the different morbid state of Patients Undergoing Scoliosis Correction
The pose of platform, so that correction system and the optimal cooperation of the convex patient in side, cure the disease to achieve the purpose that vary with each individual.
2, spine correcting machine people uses parallel institution and the combined mechanism of parallel institution realizes rehabilitation correction, can
Realize that multiple spot is corrected simultaneously.With better continuity, safety, stability, the transformation of different positions and pose can be flexibly realized.
3, the correction system of spine correcting machine people can be controlled well by the way of motor and electric rod driving
To the oppressive force of backbone when system correction, moreover it is possible to change the size of power according to the rehabilitation situation of correction dynamic, it is both effective and safe.
4, the spine correcting machine people also has the function of traction and chiropractic simultaneously, can relieve fatigue, prevent ridge
The generation of column disease.
5, the parallel institution that spine correcting machine people is made up of multiple electric cylinders between seat and base plate, and
Electric push rod mechanism between seat and the chair back and thigh support board can achieve stance, lying posture, standing position and custom angle
The transformation of multi-pose.
Detailed description of the invention
Fig. 1 is the overall structure axis measuring meaning that the utility model multi-pose spinal three-dimensional corrects a kind of embodiment of robot
Figure；
Fig. 2 is the spine correcting system integrated machine that the utility model multi-pose spinal three-dimensional corrects a kind of embodiment of robot
Structure schematic diagram；
Fig. 3 is that a kind of spine correcting system first of the utility model multi-pose spinal three-dimensional correction embodiment of robot is rectified
The structural scheme of mechanism of positive module；
Fig. 4 is that a kind of spine correcting system second of the utility model multi-pose spinal three-dimensional correction embodiment of robot is rectified
The structural schematic diagram of positive module；
Fig. 5 is the entirety for the attitude regulation system that the utility model multi-pose spinal three-dimensional corrects a kind of embodiment of robot
Structural scheme of mechanism；
Fig. 6 is the chair angle regulating system that the utility model multi-pose spinal three-dimensional corrects a kind of embodiment of robot
Structural schematic diagram.
Fig. 7 is that the utility model multi-pose spinal three-dimensional corrects a kind of structural representation of the seat bottom of embodiment of robot
Figure.
In figure: 1, spine correcting system；10, the first rectification module (two 2-UPU combined mechanisms)；11, the second correction mould
Block (2-UPU parallel institution)；1001, sagittal plane angular adjustment motor A1；1002, Hooke's hinge A1；1003, electric pushrod A1；
1004, Hooke's hinge A2；1005, fixed platform A；1006, coronal plane angularity adjusts motor B1；1007, Hooke's hinge B1；1008, electronic
Push rod B1；1009, Hooke's hinge B2；1010 bolts；1011, moving platform A is corrected；1012, moving platform B is corrected；1013, sagittal face angle
Degree adjusts motor A2；1014, Hooke's hinge A3；1015, electric pushrod A2；1016, Hooke's hinge A4；1017, coronal plane angularity is adjusted
Motor B2；1018, Hooke's hinge B3；1019, electric pushrod B2；1020, Hooke's hinge B4；1101, sagittal plane angular adjustment motor A3；
1102, Hooke's hinge A5；1103, electric pushrod A3；1104, Hooke's hinge A6；1105, fixed platform B；1106, coronal plane angularity is adjusted
Motor B3；1107, Hooke's hinge B5；1108, electric pushrod B3；1109, Hooke's hinge B6；1110, moving platform C is corrected.
2, angle of back-rest regulating system；201, chair back rack；202, it is rotatablely connected axis A；203, electric pushrod C；204, it rotates
Support base A；205, rotation support shaft A；206, rotating shaft pin A；207 chair back rack chassis.
3, chair angle regulating system；301, seat base；302, electric cylinder B；303, rotational support seat C；304, it rotates
Support base D；305, electric cylinder A；306, rotational support seat B；307, rotating shaft pin C；308, fastening bolt；309, rotating shaft pin B；
310, handrail；311, rotating shaft pin D.
4, thigh support design factors regulating system；401, thigh support board；402, electric pushrod D；403, it is rotatablely connected
Axis B；404, rotational support ring；405, rotation support shaft B；406, rotating shaft pin E.
5, foundation means；501, complete machine base plate；502, universal wheel.
Specific embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described originally practical new
Type does not limit the protection scope of the claim of this application.
Multi-pose spinal three-dimensional correction robot (abbreviation spine correcting machine people) as shown in Figure 1, including spine correcting system
System 1, angle of back-rest regulating system 2, chair angle regulating system 3, thigh support design factors regulating system 4 and foundation means 5；
The spine correcting system 1 is mounted in angle of back-rest regulating system 2；The angle of back-rest regulating system 2 and thigh support dress
Angle setting degree regulating system 4 is mounted in chair angle regulating system 3；The chair angle regulating system 3 is mounted on foundation means 5
On.
The spine correcting system 1 (referring to fig. 2-4) includes the first rectification module 10 and the second rectification module 11: described the
One rectification module (referring to Fig. 3) is the hybrid mechanism being composed of two 2-UPU parallel institutions, including fixed platform A-1005,
Correct moving platform A-1011 and correction moving platform B-1012, sagittal plane angular adjustment motor A1-1001 and electric pushrod A1-1003
One end of fixed platform A is mounted on by Hooke's hinge A1-1002, the other end of electric pushrod A1-1003 passes through Hooke's hinge A2-1004
It is mounted on the surface of the opposite side of correction moving platform A-1011 corresponding end, corrects the other side of moving platform A-1011 corresponding end
Surface is equipped with sagittal plane angular adjustment motor A2-1013 and electric pushrod A2-1015 by Hooke's hinge A3-1014, electronic to push away
The other end of bar A2-1015 is mounted on the table of the opposite side of correction moving platform B-1012 corresponding end by Hooke's hinge A4-1016
On face；The middle part of fixed platform A-1005 is equipped with coronal plane angularity by Hooke's hinge B1-1007 and adjusts motor B1-1006 and electronic
The other end of push rod B1-1008, electric pushrod B1-1008 are mounted on A-1011 pairs of moving platform of correction by Hooke's hinge B2-1009
On the surface for answering the opposite side of position, another side surface of correction moving platform A-1011 corresponding position passes through Hooke's hinge B3-
1018, which are equipped with coronal plane angularity, adjusts motor B2-1017 and electric pushrod B2-1019, the other end of electric pushrod B2-1019
It is mounted on by Hooke's hinge B4-1020 on the surface of the opposite side of correction moving platform B-1012 corresponding position；Described second rectifys
Positive module (referring to fig. 4) include fixed platform B-1105 and correction moving platform C-1110, sagittal plane angular adjustment motor A3-1101 and
Electric pushrod A3-1103 is mounted on one end of correction moving platform C-1110, electric pushrod A3-1103 by Hooke's hinge A5-1102
The other end be mounted on by Hooke's hinge A6-1104 correction moving platform C-1110 corresponding end opposite side surface on, it is fixed
The inside middle portion of platform B-1105 installs coronal plane angularity by Hooke's hinge B5-1107 and adjusts motor B3-1106 and electric pushrod
The other end of B3-1108, electric pushrod B3-1108 are mounted on the correspondence of correction moving platform C-1110 by Hooke's hinge B6-1109
On the surface of the opposite side of position.Fixed platform A-1005 in first rectification module, correction moving platform A-1011 and
Fixed platform B-1105 and correction the moving platform C-1110 corrected in moving platform B-1012 and the second rectification module is semicircle；
The motor shaft of the sagittal plane angular adjustment motor A1-1001 and coronal plane angularity adjusting motor B1-1006 are orthogonal and pass through
The semicircle center of circle；The sagittal plane angular adjustment motor A2-1013 and coronal plane angularity are adjusting the motor shaft of motor B2-1017 just
It hands over and by the semicircle center of circle；The sagittal plane angular adjustment motor A3-1101 and coronal plane angularity adjust motor B3-1106's
Motor shaft is orthogonal and by the semicircle center of circle.
First rectification module 10 is fixed on angle of back-rest regulating system by the bolt -1010 on fixed platform A-1005
On 2 chair back rack 201；Second rectification module 11 is fixed on angle of back-rest by the bolt on fixed platform B-1105 and adjusts system
On the chair back rack 201 of system 2.
The angle of back-rest regulating system 2 (referring to Fig. 5-7) includes chair back rack-201, two electric pushrod C-203, one
It is rotatablely connected axis A-202, two rotational support seat A-204, a rotation support shaft A-205, two rotating shaft pin A-206；Institute
Two rotational support seat A-204 are stated to be connect with seat base 301 by bolt (referring to Fig. 6)；Described two electric pushrod C-203
One end pass through rotating shaft pin A-206 respectively and connect with rotational support seat A-204 (referring to Fig. 6), the other end respectively and passes through chair
One end connection of the rotation connection axis A-202 of -207 lower end of backrest chassis；The structure and connection of described two electric pushrod C-203
Mode is identical, and is symmetrically mounted on the two sides (referring to Fig. 6) at -301 back side of seat base, and the two of rotation connection axis A-202
End is connect with the end of two electric pushrod C-203 respectively；The upper end of the chair back rack chassis -207 is further through rotation support shaft
A-205 is connect with seat base -301；The lower end of the chair back rack -201 is fixed by bolt and chair back rack chassis -207.
The chair angle regulating system 3 (referring to Fig. 5-7) include two electric cylinder A-305, an electric cylinder B-302,
301, two rotational support pedestal B-306 of seat base, a rotational support pedestal C-303, a rotational support pedestal D-
304, a rotating shaft pin D-311, two rotating shaft pin B-309, a rotating shaft pin C-307, multiple fastening bolts 308；Institute
The lower end i.e. fixing end and rotational support pedestal C-303 for stating two electric cylinder A-305 are fixedly connected by fastening bolt -308
On the complete machine base plate -501 of foundation means, rotational support pedestal C-303 be placed in two electric cylinder A-305 fixing end it
Between；Two rotational support pedestal B-306 and a rotational support pedestal D-304 pass through spiral shell in the form of isosceles triangle
Bolt is fixed on the back side of seat base 301 (referring to Fig. 7)；The fixing end of described two identical electric cylinder A-305 is (under i.e.
End) it is bolted on the complete machine base plate -501 of foundation means respectively, the other end (i.e. upper end) passes through rotation axis respectively
Pin B-309 is connected with rotational support pedestal B-306；The lower end of the electric cylinder B-302 passes through rotating shaft pin C-307 and rotation branch
Pedestal C-303 connection is supportted, upper end is connected by rotating shaft pin D-311 with rotational support seat D-304.
The thigh support design factors regulating system 4 (referring to Fig. 6-7) includes two pieces of thigh support boards, 401, two electricity
Dynamic push rod D-402, rotation support shaft B-405, two rotation connection axis B-403, two rotating shaft pin E-406, two rotation branch
Pushing out ring -404；Described two identical rotational support rings -404 are symmetrically mounted on two electric cylinder A-305 by fastening bolt；
The upper end of two pieces of thigh support boards -401 passes through rotation support shaft B-405 respectively and connect with the front end of seat base 301；Institute
The one end for stating two identical electric pushrod D-402 passes through the centre of rotation connection axis B-403 and thigh support board -401 respectively
Position is connected, and the other end passes through rotating shaft pin D-406 respectively and connect with rotational support ring -404.
The foundation means 5 (referring to Fig. 5) include the complete machine base plate -501 and four universal wheels -502 of foundation means: institute
State the quadrangle that universal wheel -502 is mounted on -501 back side of complete machine base plate by attachment base respectively；The complete machine bottom of the foundation means
It is connect respectively by fastening bolt with two electric cylinder A-305 and rotational support pedestal C-303 on seat board -501.
The working principle and workflow of the utility model multi-pose three-dimensional spine correcting machine people be；
Spine correcting machine people may be implemented sagittal axis direction, coronal axis direction, three directions of vertical axis three
It ties up orthopedic, can achieve the transformation of stance, lying posture, standing position and custom angle multi-pose.
When patient carries out rehabilitation correction, first according to the case where patient itself and needing through electric cylinder A-305 and electronic
Cylinder B-302 adjusts seat base -301 and arrives level angle, makes chair back rack-by electric pushrod C-203 and electric pushrod D-402
201 and thigh support board -401 be adjusted to suitable angle.Buttocks is placed on seat base -301 by patient, and both legs are placed on leg
In support plate -401, then according to the scoliosis situation and specificity of patient, the first rectification module -10 and the second correction are adjusted
It is electric pushrod A1-1003 in module -11, electric pushrod B1-1008, electric pushrod A2-1015, electric pushrod B2-1019, electronic
Push rod A3-1103, electric pushrod B3-1108 make to correct moving platform A-1011, correction moving platform B-1012 and correction moving platform
Plane where the point of application of corrective force needed for C-1105 reaches patient adjusts sagittal plane angular adjustment motor A1-1001, coronal
Face angular adjustment motor B1-1006, sagittal plane angular adjustment electricity A2-1013, coronal plane angularity adjust motor B2-1017, sagittal
Face angular adjustment motor A3-1101, coronal plane angularity, which adjust motor B3-1106, to be made to correct moving platform A-1011, correction moving platform
B-1012, correction moving platform C-1105 movement in cross section (human body is horizontal plane under plumbness), reach on patient
The fitting of body ideal.Patient's upper body is fixed in spine correcting system 1 by elastic band again, finally by control sagittal plane angle
Adjust motor A1-1001, coronal plane angularity adjusts motor B1-1006, sagittal plane angular adjustment electricity A2-1013, coronal plane angularity
It adjusts motor B2-1017, sagittal plane angular adjustment motor A3-1101, coronal plane angularity and adjusts motor B3-1106, it is dynamic through correcting
Platform A-1011, correction moving platform B-1012, correction moving platform C-1105 most preferably correct the point of application to patient and apply correction compressing
Power.In view of backbone compressing correction, treatment needs the regular hour every time, and a kind of posture patient is kept to have a kind of conflict sense for a long time,
Electric pushrod C-203, electric pushrod D-402 and electric cylinder A-305 and electric cylinder B- can be passed through respectively in corrective therapy
302 adjust different postures.
When human body is massaged and drawn, seat base 301 is adjusted by electric cylinder A-305 electric cylinder B-302 and arrives water
Straight angle degree makes chair back rack 201 and thigh support board 401 be adjusted to suitable by electric pushrod C-203 and electric pushrod D-402
Angle.Buttocks is placed on seat base 301, both legs are placed in thigh support board 401, then according to the needs of itself and comfortably
Property, it adjusts electric pushrod A1-1003 in the first rectification module 10 and the second rectification module 11, electric pushrod B1-1008, electronic push away
Bar A2-1015, electric pushrod B2-1019, electric pushrod A3-1103, electric pushrod B3-1108 make correct moving platform A-1011,
It corrects moving platform B-1012 and corrects the plane where moving platform C-1105 arrival needed by human body massage point, adjust sagittal face angle
Degree adjusts motor A1-1001, coronal plane angularity adjusts motor B1-1006, sagittal plane angular adjustment electricity A2-1013, coronal face angle
Degree, which adjusts motor B2-1017, sagittal plane angular adjustment motor A3-1101, coronal plane angularity adjusting motor B3-1106, keeps correction dynamic
Platform A-1011, correction moving platform B-1012, correction moving platform C-1105 are bonded with patient's upper body ideal, give sagittal plane angle
Adjust sagittal plane angular adjustment motor A1-1001, coronal plane angularity adjusts motor B1-1006, sagittal plane angular adjustment electricity A2-
1013, coronal plane angularity adjusts motor B2-1017, sagittal plane angular adjustment motor A3-1101, coronal plane angularity and adjusts motor
The signal of the positive inverse transformation of B3-1106 certain frequency, through correction moving platform A-1011, correction moving platform B-1012, correction moving platform
The massaging action that C-1105 moves human body repeatedly.Can also give electric pushrod A1-1003, electric pushrod B1-1008,
Electric pushrod A2-1015, electric pushrod B2-1019, electric pushrod A3-1103, the positive contravariant of electric pushrod B3-1108 certain frequency
The signal changed carries out the movement of traction massage in backbone vertical direction.
The utility model does not describe and place is suitable for the prior art.
Claims (9)
1. a kind of multi-pose spinal three-dimensional corrects robot, which is characterized in that including spine correcting system (1), angle of back-rest tune
Section system (2), chair angle regulating system (3), thigh support design factors regulating system (4) and foundation means (5)；The base
Seat mechanism includes a complete machine base plate, and the chair angle regulating system includes seat base and three electric cylinders, seat bottom
Seat is mounted on the complete machine base plate of foundation means by three electric cylinders；The spine correcting system is mounted on angle of back-rest tune
In section system, angle of back-rest regulating system is mounted on the rear end of the seat base of chair angle regulating system, the thigh support
Design factors regulating system is mounted on the front end of the seat base of chair angle regulating system.
2. multi-pose spinal three-dimensional according to claim 1 corrects robot, which is characterized in that the spine correcting system
System (1) includes the first rectification module (10) being composed of two 2-UPU parallel institutions and is made of a 2-UPU mechanism
Second rectification module (11): first rectification module includes that fixed platform A (1005), correction moving platform A (1011) and correction are dynamic
Platform B (1012), sagittal plane angular adjustment motor A1 (1001) and electric pushrod A1 (1003) are pacified by Hooke's hinge A1 (1002)
Mounted in one end of fixed platform A, the other end of electric pushrod A1 (1003) is mounted on correction moving platform A by Hooke's hinge A2 (1004)
(1011) on the surface of the opposite side of corresponding end, another side surface of correction moving platform A (1011) corresponding end passes through Hooke's hinge
A3 (1014) is equipped with sagittal plane angular adjustment motor A2 (1013) and electric pushrod A2 (1015), electric pushrod A2's (1015)
The other end is mounted on the surface of the opposite side of correction moving platform B (1012) corresponding end by Hooke's hinge A4 (1016)；It allocates
The middle part of platform A (1005) is equipped with coronal plane angularity by Hooke's hinge B1 (1007) and adjusts motor B1 (1006) and electric pushrod B1
(1008), the other end of electric pushrod B1 (1008) is mounted on correction moving platform A (1011) by Hooke's hinge B2 (1009) and corresponds to
On the surface of the opposite side of position, another side surface of correction moving platform A (1011) corresponding position passes through Hooke's hinge B3
(1018) coronal plane angularity is installed and adjusts motor B2 (1017) and electric pushrod B2 (1019), electric pushrod B2's (1019) is another
One end is mounted on the surface of the opposite side of correction moving platform B (1012) corresponding position by Hooke's hinge B4 (1020)；It is described
Second rectification module include fixed platform B (1105) and correction moving platform C (1110), sagittal plane angular adjustment motor A3 (1101) and
Electric pushrod A3 (1103) is mounted on one end of correction moving platform C (1110), electric pushrod A3 by Hooke's hinge A5 (1102)
(1103) the other end is mounted on the table of the opposite side of the corresponding end of correction moving platform C (1110) by Hooke's hinge A6 (1104)
On face, the inside middle portion of fixed platform B (1105) installs coronal plane angularity by Hooke's hinge B5 (1107) and adjusts motor B3 (1106)
Correction moving platform is mounted on by Hooke's hinge B6 (1109) with the other end of electric pushrod B3 (1108), electric pushrod B3 (1108)
On the surface of the opposite side of the corresponding position of C (1110).
3. multi-pose spinal three-dimensional according to claim 2 corrects robot, which is characterized in that the first correction mould
In fixed platform A (1005), correction moving platform A (1011) and correction moving platform B (1012) and the second rectification module in block
Fixed platform B (1105) and correction moving platform C (1110) are semicircle；The sagittal plane angular adjustment motor A1 (1001) and hat
The motor shaft of shape face angular adjustment motor B1 (1006) is orthogonal and by the semicircle center of circle；The sagittal plane angular adjustment motor A2
(1013) and coronal plane angularity adjust motor B2 (1017) motor shaft it is orthogonal and by the semicircle center of circle；The sagittal plane angle
The motor shaft of adjusting motor A3 (1101) and coronal plane angularity adjusting motor B3 (1106) is orthogonal and by the semicircle center of circle.
4. multi-pose spinal three-dimensional according to claim 1 corrects robot, which is characterized in that the angle of back-rest tune
Section system (2) includes chair back rack (201), chair back rack chassis (207), two electric pushrod C (203) and a rotation connection axis A
(202), chair back rack chassis (207) upper end is hingedly mounted on the rear end of seat base, is rotatablely connected axis A (202) by the chair back
Frame chassis (207) lower end passes through, and the both ends of rotation connection axis A (202) are connect with one end of two electric pushrod C (203) respectively,
The other end of two electric pushrod C (203) is mounted on the back side two sides of seat base, and chair back rack (201) is mounted on chair back rack bottom
The upper end of frame (207)；The spine correcting system (1) is mounted on chair back rack (201).
5. multi-pose spinal three-dimensional according to claim 4 corrects robot, which is characterized in that the chair back rack
(201) and split type structure can be made in chair back rack chassis (207), and an entirety can also be made.
6. multi-pose spinal three-dimensional according to claim 1 corrects robot, which is characterized in that the chair angle is adjusted
The upper end of three electric cylinders in system passes through the back side that rotational support pedestal is mounted on seat base, two of them rotation respectively
Support base is mounted on the front end two sides of seat base, another rotational support pedestal is mounted on the rear end of seat base, and three
Rotational support pedestal is distributed in isosceles triangle, and the lower end of two electric cylinders in front end is vertically fixed on the complete machine pedestal of foundation means
On plate, the lower end of another electric cylinder is mounted on the complete machine base plate in the middle separated time of two vertical electric cylinders.
7. multi-pose spinal three-dimensional according to claim 6 corrects robot, which is characterized in that three electric cylinders
It installs point-blank lower end.
8. multi-pose spinal three-dimensional according to claim 6 corrects robot, which is characterized in that the thigh support device
Angular adjustment system includes two pieces of thigh support boards, two electric pushrods and two rotational support rings, two pieces of thigh supports
The upper end of plate is respectively articulated with the front end for being mounted on seat base, and one end of two electric pushrods, which is respectively articulated with, is mounted on two pieces of legs
The middle part of support plate, the other end of two electric pushrods are respectively articulated with two for being mounted on and being sleeved in chair angle regulating system
On rotational support ring on vertical electric cylinder.
9. multi-pose spinal three-dimensional according to any one of claims 1 to 8 corrects robot, which is characterized in that the base
The back side four corners of the complete machine base plate of seat mechanism are also respectively equipped with a universal wheel respectively.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107928847A (en) * | 2017-12-18 | 2018-04-20 | 天津医科大学 | A kind of multi-pose spinal three-dimensional corrects robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928847A (en) * | 2017-12-18 | 2018-04-20 | 天津医科大学 | A kind of multi-pose spinal three-dimensional corrects robot |
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Effective date of registration: 20220303 Address after: 300384 room 104, floor 1, building 2, No. 15, Haitai Huake 1st Road, Huayuan Industrial Zone, Binhai high tech Zone, Xiqing District, Tianjin Patentee after: Huaying medical technology (Tianjin) Co.,Ltd. Address before: 300070 No. 22, Fengtai Road, Heping District, Tianjin Patentee before: Tianjin Medical University |
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