CN113197753B - Telescopic therapeutic robot for vertebra rehabilitation and use method - Google Patents

Abstract

The invention discloses a telescopic treatment robot for spinal rehabilitation and a method of use, which includes an L-shaped base. The top of the L-shaped base is provided with a bottom frame. The top of the bottom frame is provided with a middle frame. The middle frame There is a top frame at the top, a middle drive mechanism is set between the L-shaped base, the bottom frame and the middle frame, and a top drive mechanism that cooperates with the middle drive mechanism is set between the middle frame and the top frame. The bottom side of the bottom frame is provided with a bottom drive mechanism that cooperates with the middle drive mechanism. In the present invention, by arranging the middle drive mechanism, the top drive mechanism, the bottom drive mechanism and the drive motor that cooperate with each other, the L-shape can be synchronously and flexibly adjusted. The distance between the base, the middle frame and the bottom frame, and the distance between the middle frame and the top frame are synchronously adjusted according to needs, thereby adapting to the needs of users of different heights, making it convenient for users of different heights to fit and use, thereby effectively improving the The flexibility and effectiveness of the entire treatment robot.

Description

A telescopic treatment robot for spinal rehabilitation and method of use

Technical field

The invention relates to the technical field of medical devices, specifically a telescopic treatment robot for spinal rehabilitation and a method of use.

Background technique

The spine, also called the spine, is the backbone of the body. It is located in the middle of the back, with the upper end connected to the skull and the lower end reaching the tip of the coccyx. The spine is divided into five segments: neck, chest, waist, sacrum and tail. The upper part is long and movable, like a bracket, hanging the chest wall and Abdominal wall; the lower part is short and relatively fixed, from which the body's weight and shocks are transmitted to the lower limbs; the spine is composed of vertebrae and intervertebral discs, and is a very soft and movable structure. With the movement load of the body, the shape of the spine can change considerably. The activity of the spine depends on the integrity of the intervertebral discs and the harmony between the articular processes of the related vertebrae;

Nowadays, when spinal rehabilitation is carried out in clinical treatment, spinal rehabilitation treatment robots are usually used to assist spinal rehabilitation. When existing spinal rehabilitation treatment robots are used, fixed frames for various parts are usually used to support various parts of the user. It can support the user's entire spine and be used for auxiliary treatment of spinal rehabilitation. However, the structure of the fixed frame between each part is relatively fixed and cannot be adjusted telescopically. Therefore, each part cannot be flexibly changed according to the needs of users of different heights. The distance between the fixed frames has low flexibility, which affects the effectiveness of the entire treatment robot for spinal rehabilitation. For this reason, we propose a telescopic treatment robot for spinal rehabilitation and its use method to solve the above problems.

Contents of the invention

The object of the present invention is to provide a telescopic spinal rehabilitation treatment robot and a method of use thereof, so as to solve the problems raised in the above background technology.

In order to achieve the above object, the present invention provides the following technical solution: a telescopic treatment robot for spinal rehabilitation, including an L-shaped base, a bottom frame is provided at the top of the L-shaped base, and a middle frame is provided at the top of the bottom frame. , a top frame is provided at the top of the middle frame, a middle drive mechanism is provided between the L-shaped base, the bottom frame and the middle frame, and a top frame used in conjunction with the middle drive mechanism is provided between the middle frame and the top frame. A drive mechanism, the bottom side of the bottom frame is provided with a bottom drive mechanism used in conjunction with the middle drive mechanism;

The bottom end of the L-shaped base is fixedly installed with a support frame. The bottom end of the support frame is provided with four sets of automatic travel wheels distributed in a rectangular array. One side of the support frame is fixedly installed with a support frame for use in conjunction with the automatic travel wheels. drive motor;

A protective pad is fixedly installed on one side of the top of the L-shaped base. Preferably, a symmetrically distributed side block bracket is fixedly installed on the top of the L-shaped base;

The middle part of one side of the L-shaped base is fixedly installed with a waist fixing frame through a buffer rod, the middle part of one side of the bottom frame is fixedly installed with an abdominal fixation bracket through a buffer rod, and the middle part of one side of the middle frame is fixedly installed with a buffer rod. There is a chest fixing frame, two sets of symmetrically distributed shoulder fixing frames are fixed and installed on one side of the upper end of the middle frame through a buffer rod, and a head fixing frame is fixed and installed on one side of the middle part of the top frame through a buffer rod.

Preferably, the middle drive mechanism includes a first rotating seat and an internal screw sleeve. The internal screw sleeve is provided with two groups symmetrically distributed up and down. The two groups of internal screw sleeves are respectively connected to the L-shaped base and the central screw sleeve. The middle part of the opposite end of one side of the frame is fixedly connected. The first rotating seat is fixedly installed on the middle part of the side of the bottom frame away from the abdominal fixation frame. A double-headed screw is inserted into the middle part of the first rotating seat. The double-headed screw is inserted into the middle part of the first rotating seat. The upper and lower parts of the screw are threadedly inserted into corresponding internal screw sockets. A telescopic guide rod is slidably clamped in the middle of the bottom end of the double-headed screw. Between the top of the telescopic guide rod and the bottom end of the double-headed screw The movable sleeve is equipped with a tension spring.

Preferably, the top and bottom ends of the bottom frame are fixedly installed with symmetrically distributed first guide rods, and the side of the first guide rod away from the bottom frame is slidably connected to the L-shaped base and the middle frame respectively. Opposite side.

Preferably, the top drive mechanism includes a second rotating base, the second rotating base is fixedly installed in the middle of the upper end of one side of the top frame, and an internal screw sleeve is fixedly fixed in the middle of the bottom end of the second rotating base. The middle part of the bottom end of the internal screw sleeve is threaded with a telescopic screw, and the outer bottom movable sleeve of the telescopic screw is equipped with a sleeve. The outer fixed sleeve of the sleeve is equipped with a bearing. One side of the outer wall of the bearing A clamping column is installed vertically, and the clamping column is slidably connected to the middle part of one side of the middle frame. A connecting column is fixedly installed at the bottom end of the casing, and a driving latch is fixedly installed in the middle of the bottom end of the connecting column, so The outer wall of the driving latch is provided with an anti-slip pattern, and a driving groove is provided in the middle of the top of the double-headed screw for use in conjunction with the driving latch, and the driving latch is movablely engaged in the driving groove.

Preferably, the inner wall of the casing is fixedly connected with symmetrically distributed guide protrusions, and the outer bottom of the telescopic screw is provided with a guide groove used in conjunction with the guide protrusions, and the guide protrusions are slidably engaged with the corresponding guide strips. in the trough.

Preferably, a clamping chute for use with the clamping column is provided in the middle of one side of the middle frame, and the clamping column is slidably clamped in the clamping chute, and a micro telescopic rod is fixedly installed on the inner lower wall of the clamping chute. , the output end of the micro telescopic rod and one side of the clamping column are installed vertically.

Preferably, a second guide rod is fixedly installed in the top middle of the middle frame, and the top of the second guide rod is slidably engaged in the top frame.

Preferably, the bottom drive mechanism includes an electric telescopic rod, one end of the electric telescopic rod and the output end of the drive motor are fixedly installed, the output end of the electric telescopic rod is fixedly installed with a rotating shaft, and the rotating shaft is away from the electric telescopic rod. A driving truncated table is fixedly installed at one end, and a driven truncated table used in conjunction with the driving cylindrical table is fixedly installed at the bottom end of the telescopic guide rod. Friction rubber sleeves are fixed on the outer surfaces of the driving cylindrical table and the driven cylindrical table.

Preferably, the support frame is provided with multiple sets of I-shaped grooves for use with the automatic travel wheels. The tops of the automatic travel wheels are fixed with guide rack bars, and the guide rack bars are movably connected to the corresponding On one side of the I-shaped groove, a first spring is fixedly installed between the top of the guide rack rod and the inner upper wall of the I-shaped groove, and the other side of the I-shaped groove is provided with a buffer rack that is slidably clamped. There are multiple sets of buffer gears rotatably installed in the middle part of the I-shaped groove. The multiple sets of buffer gears are meshed and connected between the corresponding guide rack bars and the buffer racks. The top and bottom ends of the buffer racks are fixedly installed. There is a second spring.

A method of using a retractable spinal rehabilitation treatment robot, including the following steps:

Step 1: The user sits on the L-shaped base and places the buttocks on the protective pad. Then, according to the needs of users of different heights, the distance between the L-shaped base, the bottom frame, the middle frame and the top frame is flexibly changed by controlling and Start the electric telescopic rod to flexibly change the distance between the driving round table and the driven round table;

Step 2: When the driving round table and the driven round table are in contact, the driving motor is started to drive the electric telescopic rod and the rotating shaft to rotate, and finally the synchronous changes between the waist fixing frame, the abdominal fixing frame, the chest fixing frame and the two sets of shoulder fixing frames are achieved. distance to meet the needs of users of different heights;

Step 3: You can also synchronously adjust the distance between the middle frame and the top frame according to your needs, control and start the micro telescopic rod, and drive the clamping column to move up and down in the clamping chute, thereby driving the sleeve to slide up and down at the bottom of the telescopic screw. Finally, the distance between the chest fixation frame and the head fixation frame is changed to adapt to the needs of users of different heights;

Step 4: The user can start the drive motor to drive the automatic wheel to rotate, thereby driving the entire treatment robot to walk and assisting the user in position movement. During this period, the distance between the driving round table and the driven round table needs to be changed. Separate the driving circular table and the driven circular table.

Compared with the prior art, the beneficial effects of the present invention are:

1. The present invention can synchronously and flexibly adjust the distance between the L-shaped base, the middle frame and the bottom frame by arranging a middle drive mechanism, a top drive mechanism, a bottom drive mechanism and a drive motor that work together to change the waist fixing frame, The distance between the abdominal fixation frame, the chest fixation frame and the two sets of shoulder fixation frames, and the distance between the middle frame and the top frame are synchronously adjusted according to needs, thereby changing the distance between the chest fixation frame and the head fixation frame, thereby It adapts to the needs of users of different heights and facilitates the fit and use of users of different heights, thereby effectively improving the flexibility and use effect of the entire treatment robot.

2. By starting the drive motor, it is used to drive the automatic traveling wheel to rotate, thereby driving the entire treatment robot to walk and assisting the user in position movement. During this period, the distance between the driving round table and the driven round table needs to be changed to make the driving The circular cone and the driven circular cone are separated.

3. By setting up protective pads, the user's buttocks are protected when the user is sitting and using it, thereby improving the use effect of the entire treatment robot, and by setting up side block brackets to limit the position of both sides of the user, thereby Improved the safety of use of the entire treatment robot.

4. When the user is sitting and using it, the support frame moves downward steadily, thereby driving the guide rack bar to move upward and downward, squeezing the second spring on the lower side and stretching the second spring on the upper side, and passing through the first The function of the spring and the second spring buffers the automatic running wheel, thereby buffering the entire robot and the user, thereby effectively improving the user's comfort during use and improving the use effect of the entire robot.

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic connection diagram of some structures in the present invention;

Figure 3 is a schematic structural connection diagram of the intermediate drive mechanism in the present invention;

Figure 4 is a schematic structural connection diagram of the top drive mechanism in the present invention;

Figure 5 is an enlarged view of position A in Figure 4 of the present invention;

Figure 6 is a schematic structural connection diagram of the bottom drive mechanism in the present invention;

Figure 7 is a schematic diagram of the structural connection between the double-headed screw and the telescopic guide rod in the present invention;

Figure 8 is a schematic plan view of the connection between the support frame and the automatic traveling wheel in the present invention.

In the picture: 1. L-shaped base; 2. Bottom frame; 3. Middle frame; 4. Top frame; 5. Middle drive mechanism; 6. Top drive mechanism; 7. Bottom drive mechanism; 8. Support frame; 81. Automatic Row wheel; 801, I-shaped groove; 811, guide rack rod; 82, buffer rack; 83, buffer gear; 841, first spring; 842, second spring; 91, waist fixed frame; 92, abdominal fixed frame ; 93. Chest fixed frame; 94. Shoulder fixed frame; 95. Head fixed frame; 10. Drive motor; 11. Protective pad; 12. Side block bracket; 21. First guide rod; 31. Second guide rod ; 301. Card chute; 51. First rotating seat; 52. Internal thread sleeve; 53. Double-headed screw; 531. Driving groove; 532. Telescopic guide rod; 533. Tension spring; 61. Second rotating seat ; 62. Internal thread sleeve; 63. Telescopic screw; 631. Guide groove; 64. Bushing; 641. Guide ridge; 65. Bearing; 651. Clamping column; 652. Micro telescopic rod; 66. Connecting column; 67 , Driving card convex; 71. Electric telescopic rod; 72. Rotating shaft; 73. Driving round table; 74. Driven round table.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Please refer to Figures 1-8. The present invention provides a technical solution: a telescopic treatment robot for spinal rehabilitation, including an L-shaped base 1, which is convenient for the user to sit on the entire treatment robot. The top of the L-shaped base 1 is provided with Bottom frame 2, the top of the bottom frame 2 is provided with a middle frame 3, the top of the middle frame 3 is provided with a top frame 4, there is a middle drive mechanism 5 between the L-shaped base 1, the bottom frame 2 and the middle frame 3, the middle frame 3 There is a top drive mechanism 6 used in conjunction with the middle drive mechanism 5 between the top frame 4 and a bottom drive mechanism 7 used in conjunction with the middle drive mechanism 5 on the bottom side of the bottom frame 2;

The bottom end of the L-shaped base 1 is fixedly installed with a support frame 8. The bottom end of the support frame 8 is provided with four sets of automatic travel wheels 81 distributed in a rectangular array. One side of the support frame 8 is fixedly installed with a support frame 8 for use in conjunction with the automatic travel wheels 81. The drive motor 10 is used to drive the automatic wheel 81 to rotate by starting the drive motor 10, thereby driving the entire treatment robot to walk and assisting the user in position movement. This is an existing technology;

A protective pad 11 is fixedly installed on one side of the top of the L-shaped base 1 to protect the user's buttocks when the user is sitting and using it, thereby improving the use effect of the entire treatment robot; The symmetrically distributed side block brackets 12 limit the positions on both sides of the user;

A waist fixation frame 91 is fixedly installed in the middle of one side of the L-shaped base 1 through a buffer rod for fixing the spine supporting the user's waist. An abdominal fixation frame 92 is fixedly installed in the middle of one side of the bottom frame 2 through a buffer rod for fixation. To support the spine of the user's abdomen, a chest fixation frame 93 is fixed and installed on one side of the middle part of the middle frame 3 through a buffer rod, for fixing and supporting the spine of the user's chest. The upper end of one side of the middle frame 3 is fixed and installed symmetrically through a buffer rod. Two distributed sets of shoulder fixing brackets 94 are used to fix and support the shoulders of the user on both sides. A head fixing bracket 95 is fixedly installed in the middle of one side of the top frame 4 through a buffer rod to fix and support the user's head. , thereby achieving support for the user's entire spine and providing auxiliary treatment for spinal rehabilitation.

The middle drive mechanism 5 includes a first rotating seat 51 and an internal screw sleeve 52. The internal screw sleeve 52 is provided with two groups symmetrically distributed up and down. The two groups of internal screw sleeves 52 are respectively connected to the L-shaped base 1 and the middle frame 3. The middle part of the opposite end of one side is fixedly connected. The first rotating seat 51 is fixedly installed on the middle part of the side of the bottom frame 2 away from the abdominal fixing frame 92. A double-headed screw 53 is inserted into the middle of the first rotating seat 51. The double-headed screw 53 is inserted into the middle. The upper and lower parts are respectively threaded and inserted into the corresponding internal thread socket 52. A telescopic guide rod 532 is slidably clamped in the middle of the bottom end of the double-headed screw 53. The top of the telescopic guide rod 532 and the bottom end of the double-headed screw 53 are movable. The sleeve is equipped with a tension spring 533; by driving the double-headed screw 53 to rotate, the distance between the two sets of internal screw sleeve seats 52 can be flexibly changed, and the distance between the L-shaped base 1, the middle frame 3 and the bottom frame 2 can be synchronously and flexibly adjusted. , to adapt to the needs of users of different heights and facilitate the fit and use of users of different heights, thereby effectively improving the flexibility and use effect of the entire treatment robot.

The top and bottom ends of the bottom frame 2 are fixedly installed with symmetrically distributed first guide rods 21. The sides of the first guide rods 21 away from the bottom frame 2 are respectively slidably connected to the opposite sides of the L-shaped base 1 and the middle frame 3. side, when the distance between the L-shaped base 1, the middle frame 3 and the bottom frame 2 is flexibly adjusted, the first guide rod 21 telescopically slides in the corresponding L-shaped base 1, middle frame 3, thereby improving the L-shaped base 1, Stability when the distance between middle frame 3 and bottom frame 2 changes.

The top drive mechanism 6 includes a second rotating base 61. The second rotating base 61 is fixedly installed in the middle of the upper end of one side of the top frame 4. The middle of the bottom end of the second rotating base 61 is fixed with an internal threaded sleeve 62. The inner threaded sleeve The middle part of the bottom end of the barrel 62 is threaded with a telescopic screw rod 63. The outer middle part of the telescopic screw rod 63 is rotated with a socket. One side of the socket is fixedly installed on the middle frame 3. The telescopic screw 63 can be moved in the middle frame through the socket. 3, by driving the telescopic screw 63 to rotate, the telescopic screw 63 can telescope in the internal screw sleeve 62, thereby flexibly changing the distance between the middle frame 3 and the top frame 4 to adapt to the needs of users of different heights. The outer bottom movable sleeve of the telescopic screw 63 is provided with a sleeve 64. The sleeve 64 can slide up and down at the bottom of the telescopic screw 63. The outer fixed sleeve of the sleeve 64 is provided with a bearing 65. The sleeve 64 can rotate in the bearing 65. , a clamping column 651 is vertically installed on one side of the outer wall of the bearing 65, and the clamping column 651 is slidably connected to the middle part of one side of the middle frame 3. A connecting column 66 is fixedly installed at the bottom end of the sleeve 64, and the middle part of the bottom end of the connecting column 66 is fixed. A driving protrusion 67 is installed. The outer wall of the driving protrusion 67 is provided with anti-skid patterns. The top middle of the double-headed screw 53 is provided with a driving groove 531 for use in conjunction with the driving protrusion 67. The driving protrusion 67 is movable and engaged with the driving recess. In the groove 531, when the sleeve 64 slides down at the bottom of the telescopic screw 63, the driving connecting column 66 moves downward, so that the driving protrusion 67 is movable and engaged in the driving groove 531, so that the rotation of the double-headed screw 53 can be driven synchronously. The connecting column 66 and the sleeve 64 rotate. On the contrary, when the sleeve 64 slides up on the bottom of the telescopic screw 63, the driving protrusion 67 breaks away from the driving groove 531, and the rotation of the double-headed screw 53 cannot drive the connecting column 66 and the sleeve. 64 for rotation.

The inner wall of the sleeve 64 is fixedly connected with symmetrically distributed guide protrusions 641. The outer bottom of the telescopic screw 63 is provided with a guide groove 631 used in conjunction with the guide protrusions 641, and the guide protrusions 641 are slidably engaged in the corresponding guide grooves. 631, the stability of the sleeve 64 sliding up and down on the outer bottom of the telescopic screw 63 is improved, and the guide groove 631 limits the rotation of the guide protrusion 641, so that the rotation of the sleeve 64 drives the telescopic screw 63 to rotate.

A card chute 301 is provided in the middle of one side of the middle frame 3 for use with the card post 651, and the card post 651 is slidably engaged in the card chute 301. A micro telescopic rod 652 is fixedly installed on the inner lower wall of the card chute 301. , the output end of the micro telescopic rod 652 is vertically installed on one side of the clamping column 651. By controlling and starting the micro telescopic rod 652, the clamping column 651 is driven to move up and down in the clamping chute 301, thereby driving the sleeve 64 on the telescopic screw 63 The bottom slides up and down.

A second guide rod 31 is fixedly installed at the top and middle of the middle frame 3. The top of the second guide rod 31 is slidably engaged in the top frame 4. When the distance between the middle frame 3 and the top frame 4 is flexibly adjusted, the second guide rod 31 The rod 31 telescopically slides in the top frame 4 to improve the stability when the distance between the middle frame 3 and the top frame 4 changes.

The bottom drive mechanism 7 includes an electric telescopic rod 71. One end of the electric telescopic rod 71 is fixedly installed with the output end of the drive motor 10. The output end of the electric telescopic rod 71 is fixedly installed with a rotating shaft 72. The end of the rotating shaft 72 away from the electric telescopic rod 71 is fixedly installed. There is a driving circular table 73. The bottom end of the telescopic guide rod 532 is fixedly installed with a driven circular table 74 used in conjunction with the driving circular table 73. The outer surfaces of the driving circular table 73 and the driven circular table 74 are fixedly covered with friction rubber sleeves. Through control and Start the electric telescopic rod 71 to flexibly change the distance between the driving circular table 73 and the driven circular table 74. When the driving circular table 73 and the driven circular table 74 are in contact, the electric telescopic rod 71 and the rotating shaft 72 are driven to rotate by starting the driving motor 10, thereby The driving circular table 73 and the driven circular table 74 are driven to rotate, and the rotation of the driven circular table 74 drives the double-headed screw 53 and the telescopic guide rod 532 to rotate. On the contrary, when the driving circular table 73 and the driven circular table 74 are not in contact, the driving motor is started by 10. The double-headed screw 53 and the telescopic guide rod 532 cannot be driven to rotate.

The support frame 8 is provided with multiple sets of I-shaped grooves 801 used in conjunction with the automatic traveling wheel 81. The tops of the automatic traveling wheels 81 are fixedly equipped with guide rack bars 811, and the guide rack bars 811 are movably connected to the corresponding I-shaped grooves. On one side of 801, the guide rack rod 811 can slide up and down in the I-shaped groove 801. A first spring 841 is fixedly installed between the top of the guide rack rod 811 and the inner upper wall of the I-shaped groove 801. When the rack rod 811 slides up and down in the I-shaped groove 801, the corresponding first spring 841 can be squeezed or stretched to buffer the up and down sliding of the guide rack rod 811. The other side of the I-shaped groove 801 is The sliding card is provided with a buffer rack 82. The buffer rack 82 can slide up and down in the I-shaped groove 801. Multiple sets of buffer gears 83 are rotatably installed in the middle of the I-shaped slot 801. The multiple sets of buffer gears 83 are meshed and connected in corresponding parts. Between the guide rack bar 811 and the buffer rack 82, a second spring 842 is fixedly installed on the top and bottom of the buffer rack 82. When the buffer rack 82 slides up and down in the I-shaped groove 801, it can be squeezed Or stretch the corresponding second spring 842 to buffer the up and down sliding of the buffer rack 82. When the user is sitting and using it, the support frame 8 moves downward stably, thereby driving the guide rack bar 811 to move upward, squeezing the second One spring 841 synchronously drives multiple sets of buffer gears 83 to rotate, thereby driving the buffer rack 82 to move downward, squeezing the second spring 842 on the lower side and stretching the second spring 842 on the upper side. Through the first spring 841, The second spring 842 buffers the automatic wheel 81, thereby buffering the entire robot and the user, thereby effectively improving the user's comfort during use and improving the use effect of the entire robot.

A method of using a retractable spinal rehabilitation treatment robot, including the following steps:

Step 1: The user sits on the L-shaped base 1 and places the buttocks on the protective pad 11. Then, according to the needs of users of different heights, the L-shaped base 1, bottom frame 2, middle frame 3 and top frame 4 can be flexibly changed. By controlling and starting the electric telescopic rod 71, the distance between the driving circular table 73 and the driven circular table 74 can be flexibly changed;

Step 2: When the driving round table 73 and the driven round table 74 are in contact, the driving motor 10 is started to drive the electric telescopic rod 71 and the rotating shaft 72 to rotate, and finally the waist fixing frame 91, the abdominal fixing frame 92 and the chest fixing frame 93 are synchronously changed. The distance between the two sets of shoulder fixing frames 94 is to adapt to the needs of users of different heights;

Step 3: The distance between the middle frame 3 and the top frame 4 can also be adjusted synchronously according to the demand, and the micro telescopic rod 652 is controlled and started to drive the clamping column 651 to move up and down in the clamping chute 301, thereby driving the sleeve 64 to telescopically The bottom of the screw rod 63 slides up and down to finally change the distance between the chest fixation frame 93 and the head fixation frame 95 to adapt to the needs of users of different heights;

Step 4: The user can start the driving motor 10 to drive the automatic traveling wheel 81 to rotate, thereby driving the entire treatment robot to walk and assisting the user in position movement. During this period, the relationship between the driving round table 73 and the driven round table 74 needs to be changed. distance between them, so that the driving circular table 73 and the driven circular table 74 are separated.

Working principle: The present invention is a telescopic treatment robot for spinal rehabilitation and its use method. When in use, the user sits on the L-shaped base 1 and places the buttocks on the protective pad 11. At this time, the support frame 8 moves downward steadily. , thereby driving the guide rack rod 811 to move upward, squeezing the first spring 841 and synchronously driving multiple sets of buffer gears 83 to rotate, thereby driving the buffer rack 82 to move downward, squeezing and stretching the second spring 842 on the lower side The second spring 842 on the upper side buffers the automatic wheel 81 through the action of the first spring 841 and the second spring 842, thus buffering the entire robot and the user, effectively improving the user's comfort during use. And improve the use effect of the entire robot. Then, according to the needs of users of different heights, the distance between the L-shaped base 1, the bottom frame 2, the middle frame 3 and the top frame 4 can be flexibly changed by controlling and starting the electric telescopic rod 71 , flexibly change the distance between the driving round table 73 and the driven round table 74. When the driving round table 73 and the driven round table 74 are in contact, the driving motor 10 is started to drive the electric telescopic rod 71 and the rotating shaft 72 to rotate, thereby driving the driving round table 73 and the driven round table 74. The driven round table 74 rotates, and the rotation of the driven round table 74 drives the double-headed screw 53 and the telescopic guide rod 532 to rotate. By driving the double-headed screw 53 and the telescopic guide rod 532 to rotate, the two sets of internal screw sleeves 52 can be flexibly changed. distance between each other, and then synchronously and flexibly adjust the distance between the L-shaped base 1, the middle frame 3 and the bottom frame 2, thereby synchronously changing the waist fixed frame 91, the abdominal fixed frame 92, the chest fixed frame 93 and the two sets of shoulder fixed frames 94 The distance between them is to adapt to the needs of users of different heights and facilitate the fitting and use of users of different heights, thereby effectively improving the flexibility and use effect of the entire treatment robot. At this time, the double-headed screw 53 and the telescopic guide rod 532 The distance between them changes, and at the same time, the distance between the middle frame 3 and the top frame 4 can be adjusted synchronously according to the needs, the micro telescopic rod 652 is controlled and started, and the clamping column 651 is driven to move up and down in the clamping chute 301, thereby The driving sleeve 64 slides up and down at the bottom of the telescopic screw 63. When the sleeve 64 slides down at the bottom of the telescopic screw 63, the driving connecting column 66 moves downward, so that the driving protrusion 67 is movablely engaged in the driving groove 531, thereby passing through The rotation of the double-headed screw 53 can synchronously drive the connecting column 66 and the sleeve 64 to rotate. The guide groove 631 limits the rotation of the guide protrusion 641, so that the rotation of the sleeve 64 drives the telescopic screw 63 to rotate. By driving the telescopic screw 63 is rotated, the telescopic screw 63 can telescope in the internal screw sleeve 62, thereby flexibly changing the distance between the middle frame 3 and the top frame 4, and thereby changing the distance between the chest fixation frame 93 and the head fixation frame 95. In order to adapt to the needs of users of different heights, the user's entire spine is then supported by using a waist fixed frame 91, an abdominal fixed frame 92, a chest fixed frame 93 and two sets of shoulder fixed frames 94 and a head fixed frame 95. , used for auxiliary treatment for spinal rehabilitation. During use, the user can start the driving motor 10 to drive the automatic wheel 81 to rotate, thereby driving the entire treatment robot to walk and assisting the user in position movement. During this period, it is necessary to change the distance between the driving circular cone 73 and the driven circular cone 74 to separate the driving circular cone 73 and the driven circular cone 74 .

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (1)

1. A telescopic treatment robot for spinal rehabilitation, comprising an L-shaped base (1), characterized in that: a bottom frame (2) is provided at the top of the L-shaped base (1), and the bottom frame (2) A middle frame (3) is provided at the top of the middle frame (3), a top frame (4) is provided at the top of the middle frame (3), and there is a middle frame (3) between the L-shaped base (1), the bottom frame (2) and the middle frame (3). There is a middle drive mechanism (5). A top drive mechanism (6) used in conjunction with the middle drive mechanism (5) is provided between the middle frame (3) and the top frame (4). The bottom frame (2) The bottom side is provided with a bottom drive mechanism (7) used in conjunction with the middle drive mechanism (5); A support frame (8) is fixedly installed at the bottom end of the L-shaped base (1). The bottom end of the support frame (8) is provided with four sets of automatic wheels (81) distributed in a rectangular array. The support frame A drive motor (10) used in conjunction with the automatic wheel (81) is fixedly installed on one side of (8); A protective pad (11) is fixedly installed on one side of the top of the L-shaped base (1), and symmetrically distributed side block brackets (12) are fixedly installed on the top of the L-shaped base (1); A waist fixing frame (91) is fixedly installed in the middle of one side of the L-shaped base (1) through a buffer rod, and an abdominal fixing frame (92) is fixedly installed in the middle of one side of the bottom frame (2) through a buffer rod. The middle part of one side of the middle frame (3) is fixedly installed with a chest fixation frame (93) through a buffer rod, and the upper end of one side of the middle frame (3) is fixedly installed with two sets of symmetrically distributed shoulder fixation frames through a buffer rod. (94), a head fixing frame (95) is fixedly installed on one side of the middle part of the top frame (4) through a buffer rod; The middle drive mechanism (5) includes a first rotating seat (51) and an internal screw sleeve (52). The internal screw sleeve (52) is provided with two groups symmetrically distributed up and down. The sleeve seat (52) is fixedly connected to the L-shaped base (1) and the middle part of the opposite end of the middle frame (3) respectively. The first rotating seat (51) is fixedly installed on the bottom frame (2) away from the abdominal fixing frame ( 92), a double-headed screw (53) is inserted into the middle of the first rotating seat (51), and the upper and lower parts of the double-headed screw (53) are threadedly inserted into the corresponding internal thread sleeve. In the seat (52), a telescopic guide rod (532) is slidably clamped in the middle of the bottom end of the double-headed screw (53). Between the top of the telescopic guide rod (532) and the bottom end of the double-headed screw (53) The movable sleeve is equipped with a tension spring (533); The top and bottom ends of the bottom frame (2) are fixed with symmetrically distributed first guide rods (21), and the side of the first guide rod (21) away from the bottom frame (2) corresponds to the sliding card respectively. Connected to the opposite side of the L-shaped base (1) and middle frame (3); The top drive mechanism (6) includes a second rotating base (61). The second rotating base (61) is fixedly installed in the middle of the upper end of one side of the top frame (4). The second rotating base (61) An internal screw sleeve (62) is provided in the fixed clamp at the middle part of the bottom end. A telescopic screw (63) is installed in the threaded clamp in the middle part of the bottom end of the internal screw sleeve (62). The outer bottom of the telescopic screw (63) has a movable sleeve. A sleeve (64) is provided, and a bearing (65) is provided on the outer fixed sleeve of the sleeve (64). A clamping column (651) is vertically installed on one side of the outer wall of the bearing (65). The clamping column (651) 651) is slidably connected to the middle part of one side of the middle frame (3), the bottom end of the sleeve (64) is fixedly installed with a connecting column (66), and the middle part of the bottom end of the connecting column (66) is fixedly installed with a driver. The outer wall of the driving convex (67) is provided with anti-slip patterns, and the middle part of the top of the double-headed screw (53) is provided with a driving groove (531) used in conjunction with the driving convex (67). And the driving protrusion (67) is movably engaged in the driving groove (531); The inner wall of the casing (64) is fixedly connected with symmetrically distributed guide ridges (641), and the outer bottom of the telescopic screw (63) is provided with a guide groove (631) used in conjunction with the guide ridges (641). , and the guide protrusions (641) are slidably engaged in the corresponding guide grooves (631); A card chute (301) used in conjunction with the clamping column (651) is provided in the middle of one side of the middle frame (3), and the clamping column (651) is slidably connected in the carding chute (301). A micro telescopic rod (652) is fixedly installed on the inner lower wall of the chute (301), and the output end of the micro telescopic rod (652) is vertically installed on one side of the clamping column (651); A second guide rod (31) is fixedly installed at the top middle of the middle frame (3), and the top of the second guide rod (31) is slidably engaged in the top frame (4); The bottom drive mechanism (7) includes an electric telescopic rod (71). One end of the electric telescopic rod (71) and the output end of the drive motor (10) are fixedly installed. The output end of the electric telescopic rod (71) is fixed. A rotating shaft (72) is installed, a driving truncated table (73) is fixedly installed at one end of the rotating shaft (72) away from the electric telescopic rod (71), and a driving truncated table (73) is fixedly installed at the bottom end of the telescopic guide rod (532). ) is used in combination with the driven truncated table (74), the outer surfaces of the driving truncated table (73) and the driven truncated table (74) are fixedly covered with friction rubber sleeves; The support frame (8) is provided with multiple sets of I-shaped grooves (801) used in conjunction with the automatic travel wheel (81). The tops of the automatic travel wheels (81) are fixed with guide rack bars (811). , the guide rack rod (811) is movably connected to one side of the corresponding I-shaped groove (801), and the top end of the guide rack rod (811) and the inner upper wall of the I-shaped groove (801) are fixed. A first spring (841) is installed, a buffer rack (82) is slidably mounted on the other side of the I-shaped groove (801), and multiple sets of buffers are installed in the middle of the I-shaped groove (801). Gears (83), multiple sets of the buffer gears (83) are meshed and connected between the corresponding guide rack bars (811) and the buffer racks (82). The top and bottom ends of the buffer racks (82) are fixed. A second spring (842) is installed.