A double robotic arm postnatal pelvic correction device

Abstract

The present invention belongs to the technical field of pelvic correction devices, in particular to a double robotic arm postpartum pelvic correction device, which includes a support table, a sliding bed body horizontally slidably arranged on the top of the support table for the user to lie flat, and a correction mechanism arranged on one side of the support table; the correction mechanism includes a base located on the movement track of the sliding bed body, a mounting frame arranged on the base, and a correction robotic arm arranged on the mounting frame; there are two correction robotic arms arranged opposite to each other left and right; the correction robotic arm includes a multi-axis robotic arm body and a correction gun module arranged at the end of the multi-axis robotic arm body; through the cooperation of the sliding bed body and the two multi-axis robotic arm bodies on the left and right, the present invention can correct and repair the patient's pelvis from multiple angles and in multiple directions. Compared with traditional belt or left and right extrusion devices, the robotic arm with multiple joints has a better correction effect and can realize intelligent correction operations.

Description

Technical Field

[0001] The present invention relates to the technical field of pelvic correction devices, and particularly to a double robotic arm postpartum pelvic correction device. Background Art

[0002] The existing devices for postpartum rehabilitation include pelvic repair instruments, rectus abdominis repair instruments, and pelvic floor muscle repair instruments, a total of three categories of equipment. Among them, for pelvic repair, since the standard shape of a woman's hips is an inwardly adducted and inwardly buckled diagonal line, and the standard pelvic shape is a trapezoidal shape that is wider at the bottom and narrower at the top and outwardly expanded, the pelvis will deform into a square shape after childbirth, and some even into an inverted trapezoidal shape, wider at the top and narrower at the bottom. Currently, the pelvic repair devices on the market are divided into two categories. One is a wearable type, and the other is a frame type repair device. The former is mainly worn by the user himself / herself around the waist and hips, mainly composed of straps and fabrics, such as the structure shown in the patent number CN202221716586.8. The latter is mainly composed of a squeezing structure of two movable plates on the left and right sides, such as the structure shown in the solution with the patent number CN201410433454.8. The principle is that the user lies between the two movable plates, and when the pelvis is in a straight state, it is squeezed inward from the left and right directions. However, the effect obtained by squeezing is linear, and it can only be corrected on the straight line in the left and right directions. Whether it is a wearable or a frame squeezing type repair device, it cannot well adapt to the user's physical condition for targeted operations, resulting in poor final repair and correction effects. Therefore, it is necessary to propose a double robotic arm postpartum pelvic correction device to overcome the defects of the prior art. Summary of the Invention

[0003] The purpose of the present invention is to provide a double robotic arm postpartum pelvic correction device to solve the problems raised in the background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A double robotic arm postpartum pelvic correction device, including a support table, a sliding bed body horizontally and slidably arranged on the top of the support table for the user to lie flat, and a correction mechanism arranged on one side of the support table; the correction mechanism includes a base located on the moving track of the sliding bed body, a mounting rack arranged on the base, and a correction robotic arm arranged on the mounting rack; there are two correction robotic arms and they are arranged opposite to each other left and right; the correction robotic arm includes a multi-axis robotic arm body and a correction gun module arranged at the end of the multi-axis robotic arm body.

[0005] In the double robotic arm postpartum pelvic correction device of the present invention, the sliding bed body is movably arranged on the support table through a linear drive mechanism.

[0006] For the double robotic arm postnatal pelvic correction device of the present invention, the mounting frame is U-shaped, and both of its arms face downward and are fixedly connected to the base. A docking position for the crosswise movement and docking of the slide bed body is provided on the base between the two arms of the mounting frame.

[0007] For the double robotic arm postnatal pelvic correction device of the present invention, the fixed end of the multi-axis robotic arm body is fixed to the inner side of the connecting section of the two arms of the mounting frame.

[0008] For the double robotic arm postnatal pelvic correction device of the present invention, a display is provided at the upper end of one side of the mounting frame facing the support platform.

[0009] For the double robotic arm postnatal pelvic correction device of the present invention, the correction gun module includes a rotating arm coaxially and rotatably connected to the end joint of the multi-axis robotic arm body, a mounting arm vertically provided at the end of the rotating arm, and a correction shaft coaxially and slidably connected to the mounting arm; the front end of the correction shaft extends out of the front end of the mounting arm; the correction gun module further includes a movable shaft coaxially and slidably provided at the rear side of the correction shaft, a reciprocating drive unit for driving the axial reciprocating movement of the movable shaft, and an elastic reset member for providing a backward reset force for the correction shaft; the reciprocating drive unit is provided at the rear side of the movable shaft.

[0010] For the double robotic arm postnatal pelvic correction device of the present invention, the reciprocating drive unit includes a piston shaft coaxially provided at the rear side of the movable shaft, a guide sleeve coaxially and slidably sleeved on the piston shaft, a drive wheel provided at the rear side of the guide sleeve, a connecting rod connecting the drive wheel and the guide sleeve, and a motor for driving the fixed-axis rotation of the drive wheel; one end of the connecting rod is rotatably connected to the guide sleeve, and the other end is eccentrically and rotatably connected to the drive wheel; the motor is located inside the rotating arm, and the piston shaft, the movable shaft, and the correction shaft are coaxially and slidably connected to each other through a spline shaft.

[0011] For the double robotic arm postnatal pelvic correction device of the present invention, a plurality of first permanent magnets are provided on the side wall of the piston shaft and are arranged around the piston shaft. A second permanent magnet that is mutually exclusive with the first permanent magnet is provided at the rear side of the piston shaft inside the guide sleeve. A first excitation coil module for driving the rotation of the first permanent magnet is provided on the outer side wall of the guide sleeve.

[0012] The dual-robotic-arm postpartum pelvic correction device described in the present invention, wherein the motor includes a rotating shaft, a third permanent magnet coaxially arranged at both ends of the rotating shaft, a fourth permanent magnet coaxially arranged on the rotating shaft and located between the two third permanent magnets, a second excitation coil module for driving the third permanent magnet to rotate, and a third excitation coil module for driving the fourth permanent magnet to move axially; the third permanent magnets at both ends of the rotating shaft are provided in plurality and are evenly distributed circumferentially, the fourth permanent magnets are provided in plurality and are all annular and arranged along the length direction of the rotating shaft; a prismatic shaft is coaxially provided at one end of the rotating shaft away from the driving wheel, and a connecting groove adapted to the prismatic shaft is provided on the multi-axis robotic arm body.

[0013] The dual-robotic-arm postpartum pelvic correction device of the present invention is characterized in that a bevel gear is provided at one end of the rotating shaft close to the driving wheel, and an annular tooth groove matching the bevel gear is provided on one side wall of the driving wheel; the bevel gear and the connecting rod are located on both sides of the driving wheel.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: through the cooperation of the sliding bed body and the left and right multi-axis robotic arm bodies, the patient's pelvis can be corrected and repaired at multiple angles and in multiple directions. Compared with traditional straps or left and right squeezing devices, the robotic arms with multiple joints have precise fixed-point positioning and orientation. The correction gun can be adjusted to the position corresponding to the pelvis and the depth and strength of the force can be adjusted according to the thickness of the muscles. It can be changed according to the size, height and angle of the customer's pelvic skeleton, and the precise repair site can be found for repair, which can achieve the purpose of correcting the left and right balance of the pelvic skeleton, is more adaptable to the patient's physical condition, has a better correction effect, and can also realize intelligent correction operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A bird's eye view of the present invention.

[0017] Figure 2 It is a side view of the present invention.

[0018] Figure 3 Based Figure 2 AA cross-section view of the correction gun module.

[0019] Figure 4 for Figure 3Enlarged view of the local structure. Detailed implementation

[0020] In the description and claims of the present invention and the accompanying drawings, terms such as "first", "second", "third", and "fourth" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products, or devices.

[0021] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0022] "A plurality of" means two or more. "And / or" describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0023] Moreover, terms indicating directions such as "upper", "lower", "left", "right", "upper end", "lower end", "longitudinal", etc. are all referenced based on the attitude position of the device or equipment described in this solution during normal use.

[0024] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0025] This embodiment discloses as Figures 1 to 4The dual-robotic-arm postpartum pelvic correction device shown comprises a support platform 10, a sliding bed body 20 horizontally slidably arranged on the top of the support platform 10 for the user to lie flat, and a correction mechanism 30 arranged on one side of the support platform 10; the correction mechanism 30 comprises a base 31 located on the moving track of the sliding bed body 20, and a mounting frame 32 arranged on the base 31, and a correction robot arm 33 arranged on the mounting frame 32; two correction robots 33 are provided and are arranged opposite to each other on the left and right; the correction robot arm 33 comprises a multi-axis robot arm body 3a, and a correction gun module 3b arranged at the end of the multi-axis robot arm body 3a; wherein, the multi-axis robot arm body 3a adopts an intelligent robot arm with a position feedback function, which can output precise position parameters in the forward direction, and can also realize reverse data collection by manual dialing, so as to facilitate the parameters of various parts of the patient's body before the correction operation. The data is collected to facilitate the subsequent correction operation control of the control system. Furthermore, the control host that controls the multi-axis robotic arm body is arranged inside the base. In actual operation, the cooperation between the sliding bed body and the left and right multi-axis robotic arm bodies can realize the correction and repair of the patient's pelvis at multiple angles and in multiple directions. Compared with the traditional straps or left and right squeezing equipment, the robotic arm with multiple joints has precise fixed-point positioning and orientation. It can adjust the correction gun to the corresponding position of the pelvis and adjust the depth and strength of the force according to the thickness of the muscle. It can be changed according to the size, height and angle of the customer's pelvic skeleton, find the precise repair part for repair, and achieve the purpose of correcting the left and right balance of the pelvic skeleton. It can better adapt to the patient's physical condition, have better correction effect, and realize intelligent correction operation.

[0026] Among them, the multi-axis robotic arm body can more accurately align the correction gun module 3b with the three positions of the anterior superior iliac spine, iliac ridge and anterior inferior iliac spine of the ilium. The position of the anterior superior iliac spine is adjusted inward, and the iliac ridge and anterior inferior iliac spine are adjusted inward. The function of the left and right correction gun modules 3b is when adjusting the left ilium. The right correction gun module 3b is for stabilization and fixing, and controls the pelvis not to move. The functional guns on the left are respectively aimed at pelvic problems. The upper one makes the everted ilium become inward, and the middle and lower ones make the outward-expanded pelvis adduct. Each position is pushed inward slightly and cyclically for multiple times with a push of 1 to 2 mm each time for precise repair. The repair standard of the ilium is 20 to 24 cm.

[0027] In this embodiment, the sliding bed body 20 is movably arranged on the support platform 10 through a linear drive mechanism (not shown) so as to slide back and forth and cooperate with the multi-axis robot arm body 3a to accurately correct the patient's pelvis, which can adapt to people of different heights.

[0028] In this embodiment, the mounting bracket 32 is U-shaped, and its two arms face downward and are fixedly connected to the base 31. A docking position 311 for the crosswise movement and docking of the slide bed body 20 is provided between the two arms of the mounting bracket on the base 31 to play a role in supporting and docking.

[0029] In this embodiment, the fixed end of the multi-axis robotic arm body 3a is fixed to the inner side of the connecting section of the two arms of the mounting bracket, providing a certain degree of protection for the multi-axis robotic arm body 3a after storage.

[0030] In this embodiment, a display 40 is provided at the upper end of the side of the mounting bracket 32 facing the support table 10, facilitating the patient to view various operation information. In addition, a high-precision camera can be added to cooperate with the multi-axis robotic arm body 3a to achieve more intelligent control operations, facilitating real-time feedback on every change in the patient's body position.

[0031] In this embodiment, the correction gun module 3b includes a rotating arm b1 coaxially and rotatably connected to the end joint of the multi-axis robotic arm body 3a, a mounting arm b2 vertically provided at the end of the rotating arm b1, and a correction shaft b3 coaxially and slidably connected to the mounting arm b2; the front end of the correction shaft b3 extends out of the front end of the mounting arm b2; the correction gun module 3b further includes a movable shaft b4 coaxially and slidably disposed behind the correction shaft b3, a reciprocating drive unit b5 for driving the axial reciprocating movement of the movable shaft b4, and an elastic reset member b6 for providing a backward reset force for the correction shaft b3. Among them, the elastic reset member b6 is a spring and is coaxially sleeved on the correction shaft b3. Correspondingly, limit members 50 for limiting both ends of the spring are respectively provided in the mounting arm b2 and on the correction shaft b3. When the correction shaft b3 is pushed forward, the spring is compressed, and when the reciprocating drive unit b5 resets, the correction shaft b3 and the movable shaft b4 can be pushed backward by the spring to reset, preparing for the next knocking action; the reciprocating drive unit b5 is disposed behind the movable shaft b4. By driving the reciprocating movement of the correction shaft b3 through the reciprocating drive unit b5, the corresponding position of the patient's pelvis can be knocked.

[0032] In this embodiment, the reciprocating drive unit b5 includes a piston shaft b51 coaxially disposed at the rear side of the movable shaft b4, a guide sleeve b52 coaxially and slidably sleeved on the piston shaft b51, a drive wheel b53 disposed at the rear side of the guide sleeve b52, a connecting rod b54 connecting the drive wheel b53 and the guide sleeve b52, and a motor b55 for driving the drive wheel b53 to rotate about a fixed axis; one end of the connecting rod b54 is rotatably connected to the guide sleeve b52, and the other end is eccentrically rotatably connected to the drive wheel b53, so that when the drive wheel b53 rotates, the guide sleeve b52 can be driven to reciprocate through the connecting rod b54, realizing the conversion of rotational motion into linear motion; wherein, the motor b55 is located within the rotating arm b1, and the piston shaft b51, the movable shaft b4, and the correction shaft b3 are coaxially and slidably connected to each other through a spline shaft 60. Specifically, the spline shaft 60 is coaxially provided on both the piston shaft b51 and the end of the correction shaft b3 facing the movable shaft b4, and positioning grooves 70 adapted to the two spline shafts 60 are provided at both ends of the movable shaft b4. After being assembled in place, the spline shaft 60 always extends into the positioning grooves 70 and guides the axial movement of the three components.

[0033] In this embodiment, a first permanent magnet 80 is provided on the side wall of the piston shaft b51. A plurality of first permanent magnets 80 are provided and arranged around the piston shaft b51. A second permanent magnet 90 that is mutually exclusive with the first permanent magnet 80 is provided at the rear side of the piston shaft b51 within the guide sleeve b52. The mutual exclusion between the first permanent magnet 80 and the second permanent magnet 90 can isolate the direct impact between the piston shaft b51 and the guide sleeve b52 while also pushing the piston shaft b51 forward, serving a dual role of buffering and pushing; further, a first excitation coil module 100 for driving the first permanent magnet 80 to rotate is provided on the outer side wall of the guide sleeve b52. By means of the first excitation coil module 100, the rotation of the piston shaft b51, the movable shaft b4, and the correction shaft b3 can be realized. By fixing a pressing disc 200 on the front end of the correction shaft b3, the correction operation of rotating and pressing the patient can then be performed by the multi-axis robotic arm body 3a.

[0034] In this embodiment, the motor b55 includes a rotating shaft 551, third permanent magnets 552 coaxially arranged at both ends of the rotating shaft 551, a fourth permanent magnet 553 coaxially arranged on the rotating shaft 551 and located between the two third permanent magnets 552, a second excitation coil module 554 for driving the third permanent magnets 552 to rotate, and a third excitation coil module 555 for driving the fourth permanent magnet 553 to axially move; there are multiple third permanent magnets 552 at both ends of the rotating shaft 551 and they are circumferentially evenly distributed to cooperate with the second excitation coil module 554 to achieve circumferential rotational drive; further, there are multiple fourth permanent magnets 553 and they are all annular and arranged along the length direction of the rotating shaft 551; a prism shaft 110 is coaxially arranged at one end of the rotating shaft 551 away from the driving wheel b53, and a connecting groove 120 adapted to the prism shaft 110 is provided on the multi-axis robotic arm body. By controlling the third excitation coil module 555, the rotating shaft 551 can be axially pushed and inserted into the connecting groove 120. After reaching the position, the second excitation coil module 554 can be turned on to drive the rotating arm b1 to rotate coaxially with the end joint of the multi-axis robotic arm body 3a, which can further increase the available operation directions of the device and further improve the adaptability of the multi-directional correction operation on the patient.

[0035] Among them, the axial length of the third permanent magnet 552 is greater than the axial length of the second excitation coil module 554, and the axial length of the third excitation coil module 555 is greater than the axial length of the fourth permanent magnet 553, so as to ensure that when the rotating shaft 551 axially moves in place, the third permanent magnet 552 can still be within the excitation effective area of the second excitation coil module 554, and the fourth permanent magnet 553 is always within the effective area of the third excitation coil module 555, so as to realize the rotation action after the rotating shaft 551 axially moves in place. Further, a bevel gear 130 is provided at one end of the rotating shaft 551 close to the driving wheel b53, and an annular tooth groove 140 adapted to the bevel gear 130 is provided on one side wall of the driving wheel b53; the bevel gear 130 and the connecting rod are located on both sides of the driving wheel b53, so that it is convenient for the bevel gear to mesh with the annular tooth groove 140 after the rotating shaft 551 moves in place towards the driving wheel b53, and then the guide sleeve b52 can be driven to reciprocate axially, and the piston shaft b51 can be driven to reciprocally impact the movable shaft b4 and the correction shaft b3. The special shape design of the bevel gear is more convenient for the meshing and separation of the rotating shaft and the driving wheel than the structure of the spur gear.

[0036] It should be understood that for those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A dual-arm postpartum pelvic correction device, characterized in that: The invention comprises a support platform, a slide bed body horizontally slidably arranged on the top of the support platform for a user to lie flat, and a correction mechanism arranged on one side of the support platform; the correction mechanism comprises a base located on the moving track of the slide bed body, a mounting frame arranged on the base, and a correction mechanical arm arranged on the mounting frame; the correction mechanical arm is provided with two and arranged oppositely on the left and right; the correction mechanical arm comprises a multi-axis mechanical arm body, and a correction gun module arranged on the end of the multi-axis mechanical arm body; The correction gun module comprises a rotating arm coaxially connected to the end joint of the multi-axis robot body, a mounting arm vertically arranged at the end of the rotating arm, and a correction shaft coaxially connected to the mounting arm in a sliding manner; the front end of the correction shaft extends out of the front end of the mounting arm; the correction gun module also comprises a movable shaft coaxially slidably arranged at the rear side of the correction shaft, a reciprocating drive unit for driving the movable shaft to reciprocate axially, and an elastic reset member for providing a backward reset force for the correction shaft; the reciprocating drive unit is arranged at the rear side of the movable shaft; The reciprocating drive unit comprises a piston shaft coaxially arranged at the rear side of the movable shaft, a guide sleeve coaxially slidably sleeved on the piston shaft, a driving wheel arranged at the rear side of the guide sleeve, and a connecting rod connecting the driving wheel and the guide sleeve, and a motor driving the driving wheel to rotate on a fixed axis; one end of the connecting rod is rotationally connected to the guide sleeve, and the other end is eccentrically rotationally connected to the driving wheel; The motor is located in the rotating arm, and the piston shaft, the movable shaft and the correction shaft are coaxially slidably connected to each other via a spline shaft; A first permanent magnet is provided on the side wall of the piston shaft. There are multiple first permanent magnets arranged around the piston shaft. A second permanent magnet that repel each other with the first permanent magnet is provided in the guide sleeve at the rear side of the piston shaft. A first excitation coil module that drives the first permanent magnet to rotate is provided on the outer wall of the guide sleeve.

2. The dual-arm postpartum pelvic correction device according to claim 1, characterized in that: The slider bed body is movably arranged on the support platform through a linear drive mechanism.

3. The dual-arm postpartum pelvic correction device according to claim 1, characterized in that: The mounting frame is U-shaped and its two arms are fixedly connected to the base downwards. A parking position for the slide bed body to stop when it moves horizontally is provided on the base between the two arms of the mounting frame.

4. The dual-arm postpartum pelvic correction device according to claim 3, characterized in that: The fixed end of the multi-axis mechanical arm body is fixed on the inner side of the two arm connecting sections of the mounting frame.

5. The dual-arm postpartum pelvic correction device according to claim 1, characterized in that: A display is provided on the upper end of the mounting frame on one side facing the supporting platform.

6. The dual-arm postpartum pelvic correction device according to claim 1, characterized in that: The motor includes a rotating shaft, a third permanent magnet coaxially arranged at both ends of the rotating shaft, a fourth permanent magnet coaxially arranged on the rotating shaft and located between the two third permanent magnets, a second excitation coil module driving the third permanent magnet to rotate, and a third excitation coil module driving the fourth permanent magnet to move axially; the third permanent magnets at both ends of the rotating shaft are provided in plurality and are evenly distributed circumferentially, the fourth permanent magnets are provided in plurality and are all annular and arranged along the length direction of the rotating shaft; a prismatic shaft is coaxially provided at one end of the rotating shaft away from the driving wheel, and a connecting groove adapted to the prismatic shaft is provided on the multi-axis robotic arm body.

7. The dual-arm postpartum pelvic correction device according to claim 6, characterized in that: A bevel gear is provided at one end of the rotating shaft close to the driving wheel, and an annular tooth groove matched with the bevel gear is provided on one side wall of the driving wheel; the bevel gear and the connecting rod are located on both sides of the driving wheel.

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