CN110200768B

CN110200768B - A medical flexible robot

Info

Publication number: CN110200768B
Application number: CN201910443334.9A
Authority: CN
Inventors: 文霆; 雷鹏飞; 蔡桂平
Original assignee: Xiangya Hospital of Central South University
Current assignee: Xiangya Hospital of Central South University
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2021-03-02
Anticipated expiration: 2039-05-27
Also published as: CN112370272A; CN110200768A

Abstract

The invention discloses a medical flexible robot, which comprises a deformable framework and a flexible support unit, wherein the deformable framework consists of a plurality of support units; in the initial state, all the supporting units are arranged in a straight line, the adjacent supporting units are hinged with each other, and each supporting unit can only rotate upwards relative to the adjacent supporting unit; and the driving component can move back and forth along the deformable skeleton and can drive the relative rotation between two adjacent supporting units in the deformable skeleton. The medical flexible robot provided by the invention can flexibly turn and turn the deformable framework at a required position and can control the turning angle by controlling the driving assembly to walk along the deformable framework and driving the supporting unit to rotate, is convenient and flexible to operate, and can be used for joint rehabilitation training of paraplegics or used for a medical bed.

Description

Medical flexible robot

Technical Field

The invention relates to the field of medical instruments, in particular to a medical flexible robot.

Background

In the medical field, the paraplegic patient needs to be helped to carry out rehabilitation training or the paraplegic patient needs to be helped to get up and the like by means of auxiliary equipment, and because parameters such as the height, the length of hands and the length of feet of the patient have great difference, the existing medical robot needs to be adjusted adaptively for different patients, and most medical robots are inconvenient to adjust or have limitation on the adjusting range due to the limitation of the structure of the medical robot, so that the use is influenced.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a medical flexible robot, and aims to solve the problem that the bending position of the existing medical facility cannot be flexibly adjusted according to the requirement.

The technical scheme is as follows: to achieve the above object, the medical flexible robot of the present invention comprises

The deformable framework consists of a plurality of supporting units; in the initial state, all the supporting units are arranged in a straight line, the adjacent supporting units are hinged with each other, and each supporting unit can only rotate upwards relative to the adjacent supporting unit;

and the driving component can move back and forth along the deformable skeleton and can drive the relative rotation between two adjacent supporting units in the deformable skeleton.

Further, the driving assembly comprises

The linear transmission assembly is used for enabling the driving assembly to integrally move along the length direction of the deformable framework; and

and the turnover executing assembly is used for driving the relative rotation between two adjacent supporting units in the deformable framework.

Further, each of the support units has meshing teeth thereon such that the deformable skeleton has a continuous array of meshing teeth thereon;

the linear transmission component comprises

The meshing wheel can be in meshing transmission with the meshing tooth array; and

and the first motor is used for driving the meshing wheel to rotate.

Further, the folding executing component comprises

The linear transmission assembly is arranged on the assembly seat;

the two folding rods are respectively hinged to two ends of the component seat;

and the second motor drives the turnover rod to rotate relative to the component seat.

Furthermore, each supporting unit is provided with a roller, and a rotating shaft of the roller is parallel to a relative rotating shaft between adjacent supporting units; the component seat is provided with a guide chute, and the roller can enter and exit the guide chute and can move in the guide chute.

Further, the left side and the right side of each supporting unit are provided with balls, the component seat is provided with two side plates, and when the component seat moves to a certain supporting unit, the balls on the two sides of the supporting unit abut against the inner sides of the two side plates.

Furthermore, guide arc plates are arranged on two sides of the guide sliding groove.

Further, still include the guide rail, be provided with the guide unit that cooperates the guide rail to use on the drive assembly.

Furthermore, a guide groove is formed in the guide rail, and the guide unit is a guide wheel capable of rolling in the guide groove.

Has the advantages that: the medical flexible robot provided by the invention can flexibly turn and turn the deformable framework at a required position and can control the turning angle by controlling the driving assembly to walk along the deformable framework and driving the supporting unit to rotate, is convenient and flexible to operate, and can be used for joint rehabilitation training of paraplegics or used for a medical bed.

Drawings

FIG. 1 is an overall structure diagram of a medical flexible robot;

FIG. 2 is a partially enlarged view of the medical flexible robot;

FIG. 3 is a second perspective partially enlarged view of the medical flexible robot;

FIG. 4 is an enlarged partial front view of the medical flexible robot;

fig. 5 is a side view of a medical flexible robot;

FIG. 6 is a block diagram of the support unit;

the names of the parts indicated by the reference numerals in the drawings are as follows:

1-deformable framework, 11-supporting unit, 111-meshing tooth, 112-convex end, 113-concave end, 114-blocking part, 12-roller, 13-ball, 2-driving component, 21-linear transmission component, 211-meshing wheel, 212-first motor, 22-turnover executing component, 221-component seat, 221-1-guide chute, 221-2-side plate, 221-3-guide arc plate, 222-turnover rod, 223-second motor, 3-guide rail and 4-guide unit.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The medical flexible robot shown in fig. 1-5 comprises a deformable skeleton 1 and a driving assembly 2.

The deformable skeleton 1 is composed of a plurality of supporting units 11, in an initial state, all the supporting units 11 are arranged in a straight line, the adjacent supporting units 11 are hinged with each other, and each supporting unit 11 can only rotate upwards relative to the adjacent supporting unit 11 (namely, when the deformable skeleton 1 is horizontally placed, one supporting unit 11 in two adjacent supporting units 11 can only tilt upwards relative to the other supporting unit 11); specifically, each support unit 11 has a convex end 112 and a concave end 113, the convex end 112 of one support unit 11 of two adjacent support units 11 is hinged to the concave end 113 of the other support unit 11, and a stopper 114 is disposed at the lower side of the concave end 113, and the stopper 114 can prevent the one support unit 11 of two adjacent support units 11 from rotating downwards relative to the other support unit 11.

The driving assembly 2 can move back and forth along the deformable skeleton 1 and can drive the relative rotation between two adjacent supporting units 11 in the deformable skeleton 1, so that one supporting unit 11 in the two adjacent supporting units 11 rotates relative to the other supporting unit 11.

The driving component 2 comprises a linear transmission component 21 and a turnover executing component 22, wherein the linear transmission component 21 is used for enabling the driving component 2 to integrally move along the length direction of the deformable framework 1; the folding actuator 22 is used for driving the relative rotation between two adjacent supporting units 11 in the deformable skeleton 1.

Specifically, the folding actuator 22 includes a seat 221, a folding rod 222, and a second motor 223. The linear transmission assembly 21 is mounted on the assembly seat 221; the number of the folding rods 222 is two, and the two folding rods 222 are respectively hinged at two ends of the component seat 221; the second motors 223 are corresponding to the folding rods 222, and there are two folding rods 222 for driving the folding rods 222 to rotate relative to the assembly base 221.

Each of the supporting units 11 has engaging teeth 111 thereon, so that the deformable skeleton 1 has a continuous array of engaging teeth thereon; correspondingly, the linear transmission assembly 21 includes an engaging wheel 211 and a first motor 212, the engaging wheel 211 can be in meshing transmission with the engaging tooth array; the first motor 212 is used for driving the meshing wheel 211 to rotate. The transmission mode ensures that the transmission is reliable and stable, so that the driving assembly 2 has higher walking precision.

In order to limit the relative position of the component seat 221 and the supporting unit 11, so that the component seat and the supporting unit 11 do not have large play gaps up, down, left and right, a roller 12 is arranged on each supporting unit 11, and the rotating shaft of each roller 12 is parallel to the relative rotating shaft between adjacent supporting units 11; the assembly seat 221 is provided with a guide groove 221-1, and the roller 12 can enter and exit the guide groove 221-1 and can move in the guide groove 221-1. In this way, the vertical relative position of the component holder 221 and the support unit 11 can be restricted.

The left side and the right side of each supporting unit 11 are provided with balls 13, the assembly seat 221 is provided with two side plates 221-2, and when the assembly seat 221 moves to a certain supporting unit 11, the balls 13 on the two sides of the supporting unit 11 abut against the inner sides of the two side plates 221-2. In this way, the left-right relative position of the component holder 221 and the support unit 11 can be restricted.

Guide arc plates 221-3 are arranged on two sides of the guide chute 221-1. The guide arc plates 221-3 can straighten the support unit 11 along the way along with the walking of the driving assembly 2, prevent the support unit 11 from being uneven, ensure that the meshing wheel 211 is smoothly meshed with the meshing tooth array and ensure the walking smoothness of the driving assembly 2.

In order to ensure that the driving assembly 2 does not tilt, the driving assembly further comprises a guide rail 3, and a guide unit 4 matched with the guide rail 3 is arranged on the driving assembly 2. A guide groove is formed in the guide rail 3, and the guide unit 4 is a guide wheel capable of rolling in the guide groove. Therefore, the driving component 2 does not rotate or move up and down, and the whole medical flexible robot can operate reliably. In this embodiment, the guide unit 4 is mounted on the assembly base 221.

When the foldable frame is used, the first motor 212 is controlled to rotate to enable the driving assembly 2 to integrally move to a proper position relative to the deformable frame 1, and then the second motor 223 is controlled to rotate to enable the corresponding folding rod 222 to rotate, so that a part of the supporting units 11 can rotate upwards by a required angle to perform required operation.

The medical flexible robot provided by the invention can flexibly turn and turn the deformable framework at a required position and can control the turning angle by controlling the driving assembly to walk along the deformable framework and driving the supporting unit to rotate, is convenient and flexible to operate, and can be used for performing joint rehabilitation training on paraplegics or used for a medical bed to assist patients in sitting up and turning over.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. a medical flexible robot, is characterized in that, comprises

The deformable skeleton is composed of several supporting units; in the initial state, all supporting units are arranged in a straight line, adjacent supporting units are hinged to each other, and each supporting unit can only rotate upwards relative to its adjacent supporting units;

a driving component, capable of moving back and forth along the deformable frame, and capable of driving relative rotation between two adjacent support units in the deformable frame;

The drive assembly includes

a linear transmission assembly for moving the drive assembly as a whole along the length of the deformable frame; and

A fold-over actuator, used for driving relative rotation between two adjacent support units in the deformable frame;

Folding actuator contains

an assembly seat, the linear transmission assembly is mounted on the assembly seat;

a folding rod, there are two folding rods, and the two folding rods are respectively hinged at both ends of the component seat;

a second motor, driving the folding rod to rotate relative to the assembly seat;

Each of the support units is provided with a roller, and the rotation axis of the roller is parallel to the relative rotation axis of the adjacent support units; the assembly seat is provided with a guide chute, and the roller can enter and exit the guide chute and can move in the guide chute;

Both sides of the guide chute are provided with guide arc plates;

It also includes a guide rail, and a guide unit for use with the guide rail is arranged on the drive assembly.

2. The medical flexible robot according to claim 1, characterized in that,

Each of the support units has meshing teeth, so that the deformable frame has a continuous array of meshing teeth;

The linear drive assembly includes

a meshing wheel capable of meshing with the meshing tooth array for transmission; and

The first motor is used to drive the meshing wheel to rotate.

3 . The medical flexible robot according to claim 1 , wherein balls are provided on the left and right sides of each of the supporting units, and the component seat has two side plates. When the component seat moves to At one of the supporting units, the balls on both sides of the supporting unit abut the inner sides of the two side plates.

4 . The medical flexible robot according to claim 1 , wherein a guide groove is provided in the guide rail, and the guide unit is a guide wheel that can roll in the guide groove. 5 .