A cervical vertebra rehabilitation robot

Abstract

The application discloses a cervical vertebra rehabilitation robot, which comprises a controller and a fixing frame for human body wearing, the back of the fixing frame is provided with a connecting plate, a parallel mechanism for driving the head of the human body to move is arranged between the connecting plate and the top of the fixing frame, a head connecting assembly and a traction assembly are further arranged on the parallel mechanism, and the parallel mechanism and the traction assembly are used for simultaneously driving the head connecting assembly to move along the X, Y and Z axes. The coupling parallel structure provided by the application has the gravity center below the weight, the weight is concentrated on the fixing frame part, the burden on the head is reduced, the weight is concentrated on the shoulder of the human body after wearing, the human body head and neck are not subjected to the weight bearing feeling, the damage to the human body neck during the rehabilitation training is avoided, the wearing comfort is further improved, the safety during wearing is improved, and the rehabilitation training effect is improved.

Description

Technical Field

[0001] This invention relates to a rehabilitation training device, and more particularly to a cervical spine rehabilitation robot. Background Technology

[0002] Head movement disorders, or dropped head syndrome (DHS), are common in many motor neuron diseases. This condition is frequently seen in neurological disorders such as amyotrophic lateral sclerosis (ALS), primary lateral sclerosis (PLS), Parkinson's disease (PD), and cerebral palsy (CP). Degenerative weakness of the neck muscles makes it very difficult for patients to move their heads or even lift their heads. As the condition worsens, the patient's head will eventually droop completely, affecting normal eye contact, speech, swallowing, and breathing.

[0003] Initially, head drooping syndrome occurred almost exclusively in the elderly, as the degree of kyphosis in the thoracic spine tends to increase with age. However, with increased life expectancy, this condition has become more prevalent. Head drooping syndrome is essentially incurable; once the neck muscles lose strength, it cannot be reversed through surgery or physical therapy. Generally, treatment and intervention for this condition are non-surgical to avoid potential complications from surgery in vulnerable patient groups. While muscle strength loss can be compensated for with assistive devices, this type of rehabilitation using neck braces does not fully meet the needs of patients. Regardless of whether these neck braces are rigid, semi-rigid, or flexible, their function is primarily to restrict head movement; they generally lack the ability to adjust to the patient's desired direction of movement. Furthermore, prolonged use of neck braces in a fixed posture can lead to skin peeling and reduce the use of neck muscles, failing to achieve the goal of strengthening neck muscles and potentially causing muscle atrophy.

[0004] While some cervical rehabilitation devices and robots based on the working principle of cervical braces are more automated, they also have shortcomings such as large size, strong restraint, and lack of safety. Summary of the Invention

[0005] Purpose of the invention: To address the above-mentioned problems, the purpose of this invention is to provide a cervical spine rehabilitation robot with the advantages of a complete rehabilitation mechanism, simple operation, and comprehensive functions. It can be applied to clinical treatment to achieve the treatment and rehabilitation of head drooping syndrome caused by various motor neuron diseases, assist patients in raising and moving their heads normally, and thus complete basic life and social activities.

[0006] Technical solution: A cervical spine rehabilitation robot, comprising a fixation frame, a connecting plate, a parallel mechanism, a head connection assembly, and a traction assembly;

[0007] The connecting plate is installed on the back of the fixed frame. A parallel mechanism is provided above the two. The parallel mechanism includes servo motor 3, slide 2, slide 1, sliding guide rod 1, sliding guide rod 2, servo motor 1, and servo motor 2. There is a pair of servo motors 1, which are installed at intervals on the top of the fixed frame. The sliding guide rod 1 is an inverted U-shaped structure, and its two ends are respectively connected to a pair of servo motors 1. The slide 1 is installed on the cross arm of the sliding guide rod 1. The servo motor 2 is installed in the center of the upper part of the connecting plate. The sliding guide rod 2 is L-shaped, and one end is connected to the servo motor 2. The slide 2 is installed on the rod wall of the other end and intersects the sliding guide rod 1 perpendicularly. The slide 2 is connected to the slide 1. The servo motor 3 is installed on the whole formed by the two and facing downward. The head connecting component is connected to the servo motor 3.

[0008] The traction assembly is connected between the sliding guide rod one and the head connection assembly or between the sliding guide rod one and the slide block two.

[0009] Furthermore, the traction assembly includes a secondary guide wheel, a take-up box, a primary guide wheel, a take-up reel, and a servo motor. There is a pair of take-up boxes, symmetrically installed on the outer bottom ends of the two vertical arms of the sliding guide rod. Each take-up box contains a take-up reel and a servo motor for driving the take-up reel to rotate. One primary guide wheel is installed on each of the two vertical arms of the sliding guide rod. Multiple secondary guide wheels are installed on the second sliding guide rod. A traction rope is wound on the take-up reel, and the end of the traction rope away from the take-up reel is wound around the primary guide wheel and then selectively connected to the head connecting assembly or the slide block.

[0010] Ideally, a gear set is provided between the output end of the servo motor and the take-up reel. The gear set is used to reduce the speed of the servo motor and increase the torque of the take-up reel.

[0011] Furthermore, the head connection assembly includes a head fixing cover, an adjustment seat, a cheek fixing plate, a chin rest, and adjustment rods. A pair of adjustment rods are symmetrically arranged on both sides of the chin rest, and a pair of adjustment seats are correspondingly arranged on the head fixing cover. The fixed adjustment rods are connected to the adjustment seats. The cheek fixing plates are respectively installed on the inner side of the two adjustment rods. The servo motor is floatingly connected to the top of the head fixing cover.

[0012] Ideally, the cheek fixing plate is hinged to the inside of the adjusting rod, the inside of the cheek fixing plate is provided with an elastic contact layer, the adjusting seat is provided with mounting holes for inserting the adjusting rod, and the adjusting seat is provided with bolts for fixing the adjusting rod.

[0013] Furthermore, the horizontal arm of sliding guide rod one is arc-shaped, and the arm of sliding guide rod two at the end away from servo motor two is arc-shaped.

[0014] Furthermore, the mounting bracket is arranged in a hook-like manner, with straps between the front and back of the mounting bracket. The back of the mounting bracket extends and has a control box, with the controller installed inside the control box. The control box contains a storage battery, which is used to power electrical appliances.

[0015] Ideally, a spring is provided between the servo motor 3 and either slide 1 or slide 2.

[0016] Ideally, an electric telescopic rod is provided between servo motor three and slide one or slide two.

[0017] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0018] 1. The sliding guide rod 1, sliding guide rod 2 and servo motor 3 provided in this application adopt a parallel coupled mechanism design, which can realize the support of the human head while also meeting the rehabilitation training effect of various head movements. When the head needs to flex and extend, servo motor 1 drives sliding guide rod 1 to rotate along sliding guide rod 2 to achieve flexion and extension movement. When lateral bending is needed, servo motor 2 drives sliding guide rod 2 to rotate along sliding guide rod 1 to achieve lateral bending movement. When rotating and swinging the head is needed, servo motor 3 drives the head connecting component to rotate to achieve rotating and swinging the head. Moreover, the coupled parallel structure provides better wearing comfort.

[0019] 2. The coupling parallel structure provided in this application has a lower center of gravity when worn, and the weight is concentrated on the fixed frame, reducing the burden on the head. That is, after wearing, the weight is concentrated on the shoulders of the human body, without causing a feeling of weight on the head and neck. This avoids neck injury during rehabilitation training, further improving wearing comfort and safety, and enhancing the effectiveness of rehabilitation training.

[0020] 3. The traction component proposed in this application can enhance safety protection, improve equipment operation stability, and facilitate the achievement of phased rehabilitation training effects. Firstly, the traction component is based on a parallel mechanism as a second motion drive source. It utilizes the winding and unwinding of two sets of traction ropes, combined with sliding guide rods one and two, to drive head displacement. During movement, the parallel mechanism, as the first motion drive source, needs to be simultaneously driven by the traction component, the second drive source, to ultimately move the human head. Therefore, the movement of the human head is driven by both drive sources. By using the traction component to select the same motion mode as the parallel mechanism, the dual traction drive force can improve the safety and stability of the robot's movement. Secondly, based on the simultaneous drive of the traction component and the parallel mechanism, rehabilitation training... The stability can also be greatly improved. The final stage of rehabilitation training is based on the needs of the patient's rehabilitation process. In the early stage of neck rehabilitation, patients can often only do some simple single movements, such as nodding or shaking their heads. When the patient needs to do single nodding exercise rehabilitation training, the sliding guide rod one flips to drive the head to nod. At this time, the traction rope can be connected to the cheek fixation plate to connect in the direction of head shaking to limit the displacement of the human head in the direction of head shaking. Similarly, when the patient only needs to do single head shaking exercise training, the traction rope can be connected to the front and back sides of the sliding seat two to limit the displacement of the human head in the direction of nodding. This facilitates rehabilitation training and further illustrates that this application can play a significant role in helping stage rehabilitation training, increasing safety of use, and improving the stability of training. Attached Figure Description

[0021] Figure 1 This is a front view of the traction component driving the head connection component in one of the active states of the present invention.

[0022] Figure 2 This is a front view of the traction component of the present invention driving the head connection component in another active state;

[0023] Figure 3 This is a side view of the structure of the present invention;

[0024] Figure 4 This is a front enlarged structural diagram of the head connection component of the present invention;

[0025] Figure 5 This is a schematic diagram of the internal structure of the winding box of the present invention. Detailed Implementation

[0026] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0027] A cervical spine rehabilitation robot, such as Figures 1-5 As shown, it includes a controller and a mounting bracket 10 for wearable use, a connecting plate 11, a parallel mechanism, a head connection assembly 14, and a traction assembly.

[0028] The back of the fixing frame 10 is provided with a connecting plate 11. In this embodiment, the fixing frame 10 can be arranged in the shape of a hook. A strap is provided between the front and back of the fixing frame 10. When wearing, the hook is used to hang it on the shoulder of the human body and then the fixing frame 10 is extended from the shoulder to the back and tied to achieve the human body wearing. The back of the fixing frame 10 extends and is provided with a control box 15. The extended back of the fixing frame 10 increases its contact area with the back of the human body, which increases the wearing stability and facilitates the fixing of the strap. After the strap is fixed, it does not cause a feeling of wrapping under the armpits.

[0029] The controller is installed inside the control box 15. The controller can be powered by external mains power or its own power supply. In this embodiment, a storage battery is installed inside the control box 15. The storage battery is used to power electrical appliances. A parallel mechanism for moving the human head is installed between the top of the connecting plate 11 and the fixing frame 10. A head connection component 14 and a traction component are installed on the parallel mechanism. The traction component is fixed to the parallel mechanism. The parallel mechanism and the traction component are used to simultaneously move the head connection component 14 along the X, Y, and Z axes. It should be noted that the X, Y, and Z axes shown in this embodiment are references based on spatial coordinates. The X, Y, and Z axes represent references based on the left-right, front-back, and up-down directions of the human body, respectively. These will not be elaborated on here.

[0030] The parallel mechanism also includes a servo motor 1, a slide 2, a slide 3, a sliding guide rod 5, a sliding guide rod 7, a servo motor 9, and a servo motor 12. A pair of servo motors 9 are symmetrically mounted on the top of the fixed frame 10. A sliding guide rod 5 is connected between the output ends of the two servo motors 9. The servo motor 9 drives the sliding guide rod 5 to rotate around the X-axis, parallel to the human shoulder. When the servo motor 9 drives the sliding guide rod 5 to rotate, it can induce a nodding motion of the human head for rehabilitation training. The sliding guide rod 5 is U-shaped, with an arc-shaped middle section fitted with a slide 3. A servo motor 12 is mounted centrally on the top of the connecting plate 11. The output end of the servo motor 12 is connected to the sliding guide rod 7. The servo motor 12 drives the sliding guide rod 7. Rod 2 (7) rotates around the Y-axis, perpendicular to the back of the human body. When servo motor 2 (12) drives sliding guide rod 2 (7) to rotate, it can drive the human head to perform head-shaking movements for rehabilitation training. Sliding guide rod 2 (7) is L-shaped, with the end of sliding guide rod 2 (7) away from servo motor 2 (12) being arc-shaped and perpendicularly intersecting sliding guide rod 1 (5). Slide seat 2 (2) is fitted on the outer side of sliding guide rod 2 (7). Slide seat 1 (3) and slide seat 2 (2) are connected to form a whole. Servo motor 3 (1) is located at the lower height of slide seat 1 (3) and slide seat 2 (2). Specifically, servo motor 3 (1) can be installed at the bottom end of slide seat 1 (3) or at the bottom end of slide seat 2 (2) as shown in the attached diagram. This needs to be determined according to the specific vertical arrangement of slide seat 1 (3) and slide seat 2 (2). When the vertical arrangement of slide seat 1 (3) and slide seat 2 (2) is as follows... Figure 1When the slide 1 3 shown is above the slide 2 2, the servo motor 3 1 is fixed at the bottom of the slide 2 2. Conversely, when the slide 1 3 is located below the slide 2 2, the servo motor 3 1 should be fixed at the bottom of the slide 1 3. The head connection assembly 14 is installed at the output end of the servo motor 3 1. The servo motor 3 1 is used to drive the head connection assembly 14 to rotate around the Z-axis, i.e., in a direction perpendicular to the top of the human head. When the servo motor 3 1 drives the head connection assembly 14 to rotate, it can drive the human head to shake its head for rehabilitation training. The slide 1 3, the slide 2 2 and the servo motor 3 1 are overlapped and fixedly connected. The above-disclosed slide 1 3 is sleeved on the outside of the sliding guide rod 1 5, and the slide 2 2 is sleeved on the sliding guide rod 2 7. On the outside, when servo motor 19 drives sliding guide rod 5 to flip, the rotation direction of sliding guide rod 5 is parallel to slide block 2 and sliding guide rod 7, which can cause slide block 2 to slide along sliding guide rod 7 to achieve head nodding motion. The rotation direction of sliding guide rod 5 is perpendicular to the movement direction of slide block 3, so slide block 3 does not produce displacement. When servo motor 12 rotates and drives sliding guide rod 7 to flip, the rotation direction of sliding guide rod 7 is parallel to slide block 3 and sliding guide rod 5, which can cause slide block 3 to slide along sliding guide rod 5 to achieve head swaying motion. The rotation direction of sliding guide rod 7 is perpendicular to slide block 2 and sliding guide rod 5 at this time, so slide block 2 does not produce displacement.

[0031] The sliding parts of the sliding guide rod 1 5 and the sliding guide rod 2 7 disclosed above are both set in an arc shape. The specific arc is limited by the arc of human head movement. The arc required by different patients is different, mainly affected by the height of the human neck and the size of the head. Therefore, the arc of the sliding guide rod 1 5 and the sliding guide rod 2 7 can be arbitrary for different patients, which will not be explained in detail here.

[0032] To eliminate the impact of varying head movement ranges among different patients, the head connection component 14 is integrally floatingly connected to the servo motor 1 (not shown in the figure). The floating head connection component 14 can buffer and eliminate the impact of differences in head movement ranges among different patients. Normally, the flexion-extension range of the human cervical spine is + / -35°-45°, the lateral bending range is + / -45°, and the rotation range is + / -60°-80°. The differences in range of motion are mainly reflected in flexion-extension and lateral bending movements. Flexion-extension is the nodding movement disclosed in this application, and lateral bending is head tilting. The difference is generally within a height fluctuation range of 0.1-3cm. Therefore, the floating connection height of the head connection component 14 proposed in this application should be 3cm, meaning the head connection component 14 can rise and fall within a 3cm space. The specific height varies depending on the actual head movement range of different patients and the actual specifications of the sliding guide rod 5 and the sliding guide rod 7. In this embodiment, it is preferable to have a spring between the servo motor 1 and the slide 3 or the slide 2, utilizing the elasticity of the spring for connection. The system provides fixed and floating support adjustment for the floating connection. More preferably, an electric telescopic rod is provided between the servo motor 31 and the slide 13 or slide 22. When the electric telescopic rod is used to connect the servo motor 31 and the slide 13 or slide 22, it can drive the servo motor 31 to rise and fall. The telescopic end of the electric telescopic rod is connected to the servo motor 31, and the fixed end of the electric telescopic rod is fixedly connected to the slide 13 or slide 22 located at the bottom. This is understandable and achievable by those skilled in the art, and will not be elaborated here. The use of the electric telescopic rod can perfectly solve the problem of the head movement error range mentioned in this application. It can collect data according to the actual movement range of different patients, and then adjust the lifting and lowering range by adjusting the position coordinates of the sliding guide rod 15 and sliding guide rod 27 corresponding to the patient's head movement. Alternatively, according to the program setting, it can perform orderly lifting and lowering cycle adjustments according to the patient's different state rehabilitation training. For example, if the patient needs to perform flexion and extension movements, the movement of the servo motor 19 and servo motor 212 is set according to the program. The electric telescopic rod can also be set according to the program to achieve both floating connection and adjustment.

[0033] The head connection assembly 14 includes a head fixation cover 141, an adjustment seat 142, a cheek fixation plate 143, a chin rest 144, adjustment rods 145, and an elastic contact layer 146. A pair of adjustment rods 145 are symmetrically arranged on both sides of the chin rest 144. A pair of adjustment seats 142 for fixing the adjustment rods 145 are provided on the head fixation cover 141. A cheek fixation plate 143 is installed on the inner side of each of the two adjustment rods 145. The cheek fixation plate 143 is hinged to the inner side of the adjustment rods 145. An elastic contact layer 146 is provided on the inner side of the cheek fixation plate 143. A mounting hole for inserting the adjustment rods 145 is arranged through the adjustment seat 142. The mounting hole has the effect of adjusting the distance between the two adjustment rods 145 to facilitate use by patients with different face widths. Bolts for fixing the adjustment rods 145 are installed on the adjustment seat 142.

[0034] The traction assembly includes a secondary guide wheel 4, a winding box 8, a main guide wheel 13, a take-up reel 16, and a servo motor 17. A pair of winding boxes 8 are symmetrically mounted on the outer side of the bottom end of the sliding guide rod 5. A set of main guide wheels 13 are slidably mounted on the sliding guide rod 5. The main guide wheels 13 are adjustable in height. The position of the slidably mounted set of main guide wheels 13 can be adjusted along the sliding guide rod 5. The main guide wheels 13 can be adjusted after being fitted onto the sliding guide rod 5, or, as shown in the figure, the sliding guide rod 5 has a groove for the sliding of the main guide wheels 13. After the position is confirmed, the groove is used... Positioning can be achieved by bolt tightening. Several secondary guide wheels 4 are installed on the sliding guide rod 2 7. The inside of the take-up box 8 is respectively installed with a take-up reel 16 and a servo motor 17 for driving the take-up reel 16 to rotate. There is a gear set that meshes with each other between the output end of the servo motor 17 and the take-up reel 16. The meshing gear set is used to reduce the speed of the servo motor 17 and increase the torque of the take-up reel 16. A traction rope 6 is wound on the take-up reel 16, and the end of the traction rope 6 away from the take-up reel 16 is wound around the main guide wheel 13 and then connected to the head connection assembly 14 or the slide 2.

[0035] Please see Figure 1The figure shows a frontal view of the traction rope 6 with one end away from the take-up reel 16 wound around the main guide wheel 13 and connected to the head connection component 14. The specific connection point of the head connection component 14 is located on the outer surface of the cheek fixation plate 143. The specific connection method can be a hook connection, that is, the front end of the traction rope 6 is provided with a hook, and several hooks are arranged in an array on the cheek fixation plate 143. Furthermore, the hooks at different positions can be numbered to facilitate accurate left-right symmetrical connection and to facilitate various rehabilitation training and uses. The specific position of the traction rope 6 connected to the cheek fixation plate 143 has specific requirements. When the cheek fixation plate 143 is fixed and completely covers the human cheek, its outer surface is divided into three areas: the front side near the mouth, the middle side near the ear, and the rear side near the back of the head. Connecting different areas will produce different effects. For example, when the traction rope 6 is connected to the front or rear, it will cause the human head to rotate, i.e., shake its head, as the traction is applied. Connecting to the middle will cause the human head to swing. Therefore, it is convenient for different patients to use for rehabilitation training in different postures.

[0036] The aforementioned disclosure states that different positions of the traction rope 6 will produce different training effects, but its selection requires manual adjustment. This extension proposes a simple improvement based on electric control. Specifically, a rotatable connecting part (not shown in the figure) is installed on the outer side of the cheek fixing plate 143. The rotatable connecting part can be a motor and a turntable installed at the output end of the motor. The turntable rotates along the X-axis to adjust its position. After the traction rope 6 is connected to the turntable, the rotation of the turntable can be used to achieve electric adjustment of its connection position between different positions such as the front, middle, or rear. These details will not be elaborated here.

[0037] Please see Figure 2 The figure shows a front view of the traction rope 6 with the end away from the take-up reel 16 wrapped around the main guide wheel 13 and connected to the slide block 2. The slide block 2 slides along the sliding guide rod 2. When the traction rope 6 needs to be connected to the slide block 2, the height of the main guide wheel 13 needs to be adjusted, and the traction rope 6 is extended from the front and rear of the slide block 2, i.e., the two ends of the sliding guide rod 2, to one side of the slide block 2 and then connected to the slide block 2. At this time, the auxiliary guide wheel 4 is used to guide the traction rope 6 in a direction parallel to the slide block 2. That is, the traction rope 6 is wrapped around the auxiliary guide wheel 4 and then connected to the slide block 2. Thus, the traction ropes 6 on both sides can be pulled from the front and rear of the slide block 2 to produce the effect of sliding along the sliding guide rod 2, which facilitates the head flexion and extension movements.

Claims

1. A cervical spine rehabilitation robot, characterized in that: It includes a fixing frame (10), a connecting plate (11), a parallel mechanism, a head connection assembly (14), and a traction assembly; The connecting plate (11) is installed on the back of the fixed frame (10). A parallel mechanism is provided above the two. The parallel mechanism includes servo motor three (1), slide two (2), slide one (3), sliding guide rod one (5), sliding guide rod two (7), servo motor one (9), and servo motor two (12). There is a pair of servo motors one (9), which are installed at intervals on the top of the fixed frame (10). The sliding guide rod one (5) is an inverted U-shaped structure, and its two ends are respectively connected to a pair of servo motors one (9). (3) Installed on the cross arm of sliding guide rod one (5), servo motor two (12) is installed in the center of the upper part of the connecting plate (11). Sliding guide rod two (7) is L-shaped, one end of which is connected to servo motor two (12), and the other end of the rod wall is equipped with slide seat two (2) which is perpendicular to sliding guide rod one (5). Slide seat two (2) is connected to slide seat one (3). The two together form a whole on which servo motor three (1) is installed facing downward. The head connecting assembly (14) is connected to servo motor three (1). The traction assembly is connected between the sliding guide rod one (5) and the head connection assembly (14) or between the sliding guide rod one (5) and the slide block two (2); The traction assembly includes a secondary guide wheel (4), a take-up box (8), a main guide wheel (13), a take-up reel (16), and a servo motor (17). There is a pair of take-up boxes (8), which are symmetrically installed on the outer side of the bottom of the two vertical arms of the sliding guide rod (5). Each take-up box (8) is equipped with a take-up reel (16) and a servo motor (17) for driving the take-up reel (16) to rotate. A main guide wheel (13) is installed on each of the two vertical arms of the sliding guide rod (5). Multiple secondary guide wheels (4) are installed on the sliding guide rod (7). A traction rope (6) is wound around the take-up reel (16), and the end of the traction rope (6) away from the take-up reel (16) is wound around the main guide wheel (13) and then connected to the head connection assembly (14) or the slide block (2).

2. The cervical spine rehabilitation robot according to claim 1, characterized in that: A gear set is provided between the output end of the servo motor (17) and the take-up reel (16). The gear set is used to reduce the speed of the servo motor (17) and increase the torque of the take-up reel (16).

3. The cervical spine rehabilitation robot according to claim 1, characterized in that: The head connection assembly (14) includes a head fixing cover (141), an adjustment seat (142), a cheek fixing plate (143), a chin rest (144), and an adjustment rod (145). A pair of adjustment rods (145) are symmetrically arranged on both sides of the chin rest (144). A pair of adjustment seats (142) are correspondingly arranged on the head fixing cover (141). The fixed adjustment rods (145) are connected to the adjustment seats (142) respectively. The cheek fixing plates (143) are respectively installed on the inner side of the two adjustment rods (145). The servo motor (1) is floatingly connected to the top of the head fixing cover (141).

4. The cervical spine rehabilitation robot according to claim 3, characterized in that: A cheek fixing plate (143) is hinged to the inside of the adjusting rod (145). An elastic contact layer (146) is provided on the inside of the cheek fixing plate (143). An installation hole for inserting the adjusting rod (145) is provided through the adjusting seat (142), and a bolt for fixing the adjusting rod (145) is installed on the adjusting seat (142).

5. A cervical spine rehabilitation robot according to claim 1, characterized in that: The horizontal arm of sliding guide rod one (5) is arc-shaped, and the arm of sliding guide rod two (7) at the end away from servo motor two (12) is arc-shaped.

6. The cervical spine rehabilitation robot according to claim 1, characterized in that: The mounting bracket (10) is arranged in a hook shape. A strap is provided between the front and back of the mounting bracket (10). The back of the mounting bracket (10) extends and is provided with a control box (15). The controller is installed inside the control box (15). A storage battery is installed inside the control box (15). The storage battery is used to power electrical appliances.

7. A cervical spine rehabilitation robot according to claim 1, characterized in that: A spring is provided between the servo motor 3 (1) and the slide 1 (3) or the slide 2 (2).

8. A cervical spine rehabilitation robot according to claim 1, characterized in that: An electric telescopic rod is provided between the servo motor 3 (1) and the slide 1 (3) or the slide 2 (2).

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