Mechanical simulation device for sitting lumbar vertebra manipulation training based on flexible differential driving

Abstract

The invention discloses a mechanical simulation device for sitting lumbar vertebra manipulation training based on flexible differential driving. The mechanical simulation device comprises a base, driving joints, an elastic unit, a differential driving bevel gear train and an output connecting rod, the two driving joints are respectively arranged on the two supporting plates of the base, and the differential driving bevel gear train is arranged between the two supporting plates; two driving bevel gears of the differential driving bevel gear train are connected with the cross spoke output pieceof the elastic unit through bevel gear input shafts respectively, the motion input piece of the elastic unit is in transmission connection with the joint output shafts of the driving joints, and the output connecting rod is in transmission connection with the driven bevel gear of the differential driving bevel gear train. The device can simulate the multi-directional movement of the waist, has twodegrees of freedom, and has certain safety and flexibility. The mechanical property similar to the waist of a human body when the human body accepts the sitting lumbar vertebra rotation technique canbe simulated, so that a vivid training, practicing and examining platform is provided for unskilled operating technique personnel.

Description

technical field [0001] The invention relates to the technical field of experimental equipment for clinical medical research, in particular to a mechanical simulation device for seated lumbar manipulation training based on flexible differential drive. Background technique [0002] At present, the forms of the simulation mechanism for waist motion mainly include: 1) Simulate the pitch motion of the waist with a single degree of freedom; 2) Simulate the multi-directional motion of the waist with multiple degrees of freedom in a series connection. However, the current simulation institutions all have the following deficiencies: [0003] 1. Insufficient safety. Most of the current joint drives are rigid transmissions, and there are some potential safety hazards. When subjected to external impacts and collisions, not only will it cause harm to people, but it may also cause damage to the mechanism itself, which is not safe and compliant; [0004] 2. The desired movement and workin...

AI Technical Summary

Problems solved by technology

[0003] 1. Insufficient safety. Most of the current joint drives are rigid transmissions, and there are some potential safety hazards. When subjected to external impacts and collisions, not only will it cause harm to people, but it may also cause damage to the mechanism itself, which is not safe and compliant;

[0004] 2. The desired movement and working space can be achieved by adopting multi-degree-of-freedom serial drive, but the serial connection increases the height of the transmission chain, increases the center of gravity of the entire mechanism, and increases the load of the motor, which has a certain impact on the stability of the mechanism ;

[0005] 3. The error of the series mechanism is the accumulation of the joint errors of the two degrees of freedom, which will eventually lead to the amplification of the error of the mechanism and poor controllability

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