Spine circulating motion simulation testing machine

Abstract

The invention discloses a spine circulating motion simulation testing machine, and relates to the technical field of testing machines, the spine circulating motion simulation testing machine comprises a control box, an upper fixing piece and a lower fixing piece, and further comprises a swing mechanism, a rotating assembly and a cooperative control module which are installed on the top of the control box; the lower fixing part is installed on the top of the control box through the rotating assembly and can rotate around the vertical rotating axis of the rotating assembly under driving of the rotating assembly, and the upper fixing part is movably arranged above the lower fixing part through the swing mechanism. The swing mechanism is used for driving the upper fixing piece to swing between a first position and a second position in a reciprocating mode around the horizontal rotation axis of the swing mechanism, and the vertical rotation axis and the horizontal rotation axis are located in the same plane. The lower fixing piece is driven by the rotating assembly to rotate around the vertical rotating axis, phase matching with the swing mechanism is achieved through the cooperative control module, three-dimensional composite motion tracks such as flexion and extension and torsion and lateral bending and rotating can be generated, spine physiological-level multi-axis loads are accurately simulated, and the biomechanical reduction degree is improved.

Description

Technical Field

[0001] The invention relates to the technical field of testing machines, in particular to a spinal circulation motion simulation testing machine. Background Art

[0002] The spine is the pillar of the body, 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. It is composed of vertebrae and intervertebral discs, and has multiple functions such as weight bearing, shock absorption, protection and movement. Lumbar disc degeneration and the low back pain and lumbar disc herniation caused by it are relatively common in clinical practice, but their causes and mechanisms are relatively complex. Studies have shown that biomechanical factors may be the initiating factors of disc degeneration, and that a harsh mechanical environment can aggravate the occurrence of disc degeneration, while reducing the disc load can help alleviate the symptoms of disc herniation. At present, researchers are trying to simulate the stress conditions of the spine through experiments to find ways to improve the stress state of the lumbar disc and thus relieve the patient's pain.

[0003] A search of Chinese patent publication number CN113624476B discloses a spinal circulatory motion simulation test machine. Although the spinal circulatory motion simulation test machine disclosed in the patent realizes the simulation of spinal flexion and extension and scoliosis through the mechanical linkage structure of eccentric wheel, roller, push-pull rod, it still has the following significant defects: Single motion dimension: It can only simulate unidirectional plane motion of spinal flexion and extension or scoliosis, lacks a driving module for torsional freedom, and cannot reproduce the multi-axis coupled mechanical behavior of the human spine when walking and turning (such as flexion-extension-torsion compound motion), resulting in insufficient fidelity of biomechanical simulation; Limited adjustment capability: The upper and lower fixing mechanisms rely on manual adjustment studs to achieve position adjustment (such as adjustment slots and upper adjustment studs), which have low adjustment accuracy and poor efficiency, and cannot dynamically adapt to the curvature requirements of samples of different sizes during testing; Structural complexity: Multi-stage linkage components (eccentric wheels, action rods, push-pull rods, etc.) lead to a high risk of motion interference (such as insufficient control of the gap between the action block and the fixed frame), which restricts stability under high-frequency motion. Summary of the invention

[0004] The purpose of the present invention is to provide a spinal circulatory motion simulation test machine to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme: The present invention provides a spinal circulatory motion simulation test machine, comprising a control box, an upper fixing member and a lower fixing member, and also comprising a swing mechanism, a rotating assembly and a coordinated control module installed on the top of the control box; The lower fixing part is installed on the top of the control box through a rotating component, and can rotate around the vertical rotation axis of the rotating component under the drive of the rotating component. The upper fixing part is movably arranged above the lower fixing part through a swinging mechanism; the swinging mechanism is used to drive the upper fixing part to swing back and forth between a first position and a second position around the horizontal rotation axis of the swinging mechanism, and the vertical rotation axis and the horizontal rotation axis are in the same plane; when the upper fixing part is in the first position, the upper fixing part is directly above the lower fixing part; when the upper fixing part is in the second position, the upper fixing part is obliquely above the lower fixing part; the cooperative control module is integrated in the control box, and is used to independently adjust the swinging frequency of the swinging mechanism and the rotation speed of the rotating component, so that the upper fixing mechanism and the lower fixing mechanism synchronously generate three-dimensional compound motion.

[0006] Furthermore, the swing mechanism includes a swing shaft horizontally rotatably arranged on the top of the control box through a bearing seat, a swing arm vertically fixed and welded to one end of the swing shaft, an upper mounting seat movably mounted on the swing arm through a position adjustment component, and a driving component for driving the swing shaft to reciprocate; the position adjustment component can adjust the installation position of the upper mounting seat along the length direction of the swing arm, the upper fixing member is rotatably mounted on the bottom of the upper mounting seat through an upper rotating seat, and a locking component for dynamically locking or releasing the rotational freedom of the upper rotating seat is provided on the upper mounting seat, wherein the central axis of the swing shaft is the horizontal rotation axis, and when the upper fixing member is in the first position, the rotation axis of the upper rotating seat is colinear with the rotation axis of the lower fixing member.

[0007] Furthermore, the swing arm is provided with a movable groove along its length direction, and the position adjustment component includes an adjustment block slidably installed in the movable groove and an adjustment screw rotatably set in the movable groove and threadedly matched with the adjustment block, the upper mounting seat is rigidly fixed to one side of the adjustment block by bolts, and the top end of the adjustment screw passes through the swing arm and is fixed with a knob.

[0008] Furthermore, the locking assembly comprises a friction wheel, a friction block and an electric push rod; the friction wheel is rigidly fixed on the upper rotating seat by interference fit, the outer periphery of the friction wheel is covered with a high friction coefficient ceramic composite material, the friction block is fixed to the telescopic end of the electric push rod, and the electric push rod is horizontally fixed to the upper mounting seat on one side of the friction wheel through a connecting seat.

[0009] Furthermore, the rotating assembly includes a fixed shell, a first drive motor installed in the fixed shell, and a lower rotating seat installed on the output end of the first drive motor through a torque limiting coupling, and the lower fixing member is fixed on the top of the lower rotating seat.

[0010] Furthermore, the driving assembly includes a positioning frame fixedly mounted on the top of the control box, a second driving motor mounted on the top of the control box through a mounting seat, and a transmission component for connecting the swing shaft and the second driving motor; the transmission component includes a gear, a rack, a transmission bar, and a rotating disk, the gear is fixedly mounted on the swing shaft, the rack is horizontally slidably mounted on the positioning frame and meshes with the gear, the transmission bar is vertically arranged on the top of the rack and forms a T-shaped structure with the rack, a strip-shaped sliding groove is provided on the transmission bar along the axial direction of the swing shaft, the rotating disk is fixedly mounted on the output end of the second driving motor, and a sliding column is eccentrically fixedly arranged on the rotating disk close to the transmission bar and is slidably adapted in the strip-shaped sliding groove.

[0011] Furthermore, a counterweight is provided at one end of the swing shaft away from the swing arm. When the swing shaft is not driven by the swing mechanism, the counterweight can keep the swing arm in a vertical state. The transmission bar and the rack are connected by a sliding limit structure. The sliding limit structure includes a sliding box fixed to the top of the rack. The top of the sliding box is provided with a key slot arranged along the length direction of the rack. A first sliding block and a second sliding block are slidably arranged in the key slot, wherein the bottom end of the transmission bar is fixed to the top of the first sliding block, and a fine-tuning screw is also rotatably installed in the key slot. The fine-tuning screw is threadably matched with the second sliding block, and one end of the fine-tuning screw is connected to a micro servo motor.

[0012] Furthermore, the collaborative control module includes: a sensor unit for real-time acquisition of the swing mechanism angle and the rotation speed of the rotating component; a closed-loop feedback unit for dynamically adjusting the motion parameters based on the sensor data; and a human-computer interaction interface for inputting motion modes and displaying real-time data.

[0013] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects: The spinal circulatory motion simulation test machine of the present application achieves the following effects through the design of dual-axis coordinated drive, intelligent locking and closed-loop control technology: 1. The present invention drives the lower fixing part to rotate around the vertical rotation axis through the rotating assembly, and achieves phase matching with the swing mechanism through a collaborative control module, which can generate three-dimensional composite motion trajectories such as flexion and extension plus torsion, lateral bending plus rotation, etc., accurately simulate the physiological level multi-axis load of the spine, and improve the biomechanical restoration degree.

[0014] 2. The present invention adopts a linear slide position adjustment component to support the precise displacement of the upper mounting seat along the swing arm, automatically calculates the optimal swing radius based on the sample size, adapts to different intervertebral disc height and curvature requirements, and extends compatibility to animal spine and dynamic implant testing.

[0015] 3. The present invention replaces the eccentric wheel, roller structure and spring transmission with gear and rack transmission, which reduces transmission error, avoids angle drift after multiple cycles, and improves data stability; 4. The locking assembly composed of the friction wheel and the friction plate of the present invention can quickly and rigidly lock the upper rotating seat, thereby realizing seamless switching between the pure torsion mode and the compound motion mode.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] Figure 1 is a schematic structural diagram of an upper fixing member of the present invention in a first position; Figure 2 is a structural schematic diagram of the upper fixing member of the present invention being in the second position; Figure 3 It is a schematic structural diagram of the swing mechanism of the present invention from a first viewing angle; Figure 4 It is a structural schematic diagram of the swing mechanism of the present invention from a second viewing angle; Figure 5 yes Figure 3 Schematic diagram of the local structure at A; Figure 6 It is a schematic diagram of the structure of the rotating assembly of the present invention.

[0019] In the figure: 1-control box; 2-upper fixing piece; 3-lower fixing piece; 4-swing mechanism; 41-swing shaft; 411-counterweight; 42-swing arm; 421-moving slot; 43-position adjustment assembly; 431-adjustment block; 432-adjustment screw; 433-knob; 44-upper mounting seat; 45-drive assembly; 451-positioning frame; 452-second drive motor; 453-transmission component; 4531-gear; 4532-rack; 4533-transmission bar; 45331- Strip sliding groove; 4534-rotating disk; 4535-sliding column; 46-upper rotating seat; 47-locking assembly; 471-friction wheel; 472-friction block; 473-electric push rod; 5-rotating assembly; 51-fixed shell; 52-first drive motor; 53-torque limiting coupling; 54-lower rotating seat; 8-sliding limit structure; 81-sliding box; 82-keyway; 83-first sliding block; 84-second sliding block; 85-fine adjustment screw; 86-micro servo motor. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] See also Figure 1-Figure 6 The present invention provides a spinal circulatory motion simulation test machine, including a control box 1, an upper fixing member 2 and a lower fixing member 3, and also includes a swing mechanism 4 installed on the top of the control box 1, a rotating component 5 and a cooperative control module (not shown).

[0022] Combination Figure 1 and Figure 2 As shown, the lower fixing member 3 is installed on the top of the control box 1 through the rotating assembly 5, and can rotate around the vertical rotation axis of the rotating assembly 5 under the drive of the rotating assembly 5. The upper fixing member 2 is movably arranged above the lower fixing member 3 through the swing mechanism 4; the swing mechanism 4 is used to drive the upper fixing member 2 to rotate around the horizontal rotation axis of the swing mechanism 4 in the first position (such as Figure 1 as shown) and the second position (as Figure 2 As shown in the figure, the vertical rotation axis is the rotation axis of the rotating component 5, and the horizontal rotation axis is the rotation axis of the swing mechanism 4; the vertical rotation axis and the horizontal rotation axis are in the same plane; when the upper fixing member 2 is in the first position, the upper fixing member 2 is directly above the lower fixing member 3; when the upper fixing member 2 is in the second position, the upper fixing member 2 is obliquely above the lower fixing member 3; the collaborative control module is integrated in the control box 1, and is used to independently adjust the swing frequency of the swing mechanism 4 and the rotation speed of the rotating component 5, so that the upper fixing mechanism and the lower fixing mechanism synchronously generate three-dimensional compound motion.

[0023] This device is based on the principle of three-dimensional compound motion coordinated control, and achieves accurate reproduction of the biomechanical behavior of the spine by independently regulating the motion parameters of the rotating component 5 and the swinging mechanism 4.

[0024] The specific working principle is: fix the two ends of the sample to the upper fixing member 2 and the lower fixing member 3 respectively, and drive the upper fixing member 2 to rotate around the horizontal axis in the first position (such as Figure 1 as shown) and the second position (as Figure 2The lower fixing member 3 is driven by the rotating assembly 5 to rotate around the vertical rotation axis at a uniform speed or at a variable speed to simulate the torsional movement of the spine, wherein the vertical rotation axis and the horizontal rotation axis are in the same plane to ensure the geometric consistency of the motion trajectory.

[0025] The collaborative control module independently adjusts the swing frequency and rotation speed (the swing frequency and rotation speed can be monitored and adjusted with the help of sensors in the prior art), so that the motion of the upper fixture 2 and the lower fixture 3 are synchronously superimposed, and the dual-axis motion is dynamically matched according to a preset phase relationship (such as sinusoidal coupling or spiral superposition), generating a multi-degree-of-freedom composite trajectory to accurately simulate the spiral and wavy mechanical loads of the spine in real scenes such as walking and turning. Compared with traditional uniaxial testing machines, this device provides an efficient testing platform that is closer to physiological reality for spinal biomechanics research and medical device development through three-dimensional composite motion generation, dual-axis decoupling control and dynamic stability enhancement.

[0026] like Figure 3 As shown, in this embodiment, the swing mechanism 4 includes a swing shaft 41 horizontally rotatedly arranged on the top of the control box 1 through a bearing seat, a swing arm 42 vertically fixed and welded to one end of the swing shaft 41, an upper mounting seat 44 movably mounted on the swing arm 42 through a position adjustment component 43, and a driving component 45 for driving the swing shaft 41 to reciprocate; the position adjustment component 43 can adjust the installation position of the upper mounting seat 44 along the length direction of the swing arm 42, the upper fixing member 2 is rotatably mounted on the bottom of the upper mounting seat 44 through an upper rotating seat 46, and a locking component 47 is provided on the upper mounting seat 44 for dynamically locking or releasing the rotational freedom of the upper rotating seat 46, wherein the central axis of the swing shaft 41 is the horizontal rotation axis, and when the upper fixing member 2 is in the first position, the rotation axis of the upper rotating seat 46 is collinear with the vertical rotation axis of the lower fixing member 3.

[0027] Based on the above arrangement, when in use, the swing mechanism 4 drives the horizontally arranged swing shaft 41 to reciprocate around the horizontal rotation axis through the driving assembly 45, so that the swing arm 42 vertically welded to the shaft end of the swing shaft 41 and the upper mounting seat 44 at its end swing synchronously, thereby driving the upper fixing member 2 to form a periodic flexion and extension movement between the first position and the second position.

[0028] The position adjustment component 43 can quickly adapt to spinal specimens of different sizes by adjusting the installation position of the upper mounting seat 44 along the length direction of the swing arm 42, realize dynamic adjustment of the swing radius, and improve the compatibility of the test scene.

[0029] The locking assembly 47 rigidly locks or flexibly releases the upper rotating seat 46 through friction braking or mechanical engagement. When locked, the upper fixing member 2 maintains a fixed posture, and cooperates with the rotating assembly 5 to drive the lower fixing member 3 to rotate around the vertical rotation axis, accurately simulating the pure torsional force of the spine; when the upper fixing member 2 is reset to the first position, the cooperative control module automatically releases the lock, so that the upper fixing member 2 rotates synchronously with the rotation of the lower fixing member 3 around the vertical rotation axis as a whole, and swings to the upper side again, realizing the compound movement switching of the spine backward (sagittal plane) or scoliosis (coronal plane).

[0030] The present invention ensures efficient switching between pure torsion and compound bending motion modes through the coordination of the swing structure and the intelligent locking, and reduces the risk of motion interference by utilizing the coplanar layout of the swing axis 41 and the vertical rotation axis, thereby achieving seamless simulation of multi-dimensional, high-fidelity spinal motion in a single test, providing controllable and adaptable experimental conditions for implant fatigue testing and biomechanical research.

[0031] In this embodiment, the swing arm 42 is provided with a movable groove 421 along its length direction, and the position adjustment component 43 includes an adjustment block 431 slidably installed in the movable groove 421 and an adjustment screw 432 rotatably set in the movable groove 421 and threadedly matched with the adjustment block 431, and the upper mounting seat 44 is rigidly fixed to one side of the adjustment block 431 by bolts, and the top end of the adjustment screw 432 passes through the swing arm 42 and is fixed with a knob 433.

[0032] This embodiment is based on the above-mentioned setting. When the knob 433 is rotated, the threaded pair of the adjusting screw 432 and the adjusting block 431 converts the rotational motion into linear displacement, so as to drive the adjusting block 431 to drive the upper mounting seat 44 to move along the moving groove 421. This mechanical transmission design realizes position locking through the self-locking characteristics of the screw to ensure that there is no accidental displacement caused by vibration or inertial load during the test; at the same time, the adjustment process does not require the removal of the fixture or the use of auxiliary tools, and can be completed by rotating the knob 433 with one hand. Compared with the traditional multi-level positioning hole adjustment method (need to loosen the bolt-change the hole position-re-lock), it not only eliminates the discrete error of the step-by-step adjustment, but also greatly shortens the sample switching time.

[0033] In this embodiment, the locking assembly 47 includes a friction wheel 471, a friction block 472 and an electric push rod 473; the friction wheel 471 is rigidly fixed on the upper rotating seat 46 by interference fit, the outer periphery of the friction wheel 471 is covered with a high friction coefficient ceramic composite material, the friction block 472 is fixed to the telescopic end of the electric push rod 473, and the electric push rod 473 is horizontally fixed to the upper mounting seat 44 on one side of the friction wheel 471 through a connecting seat.

[0034] This embodiment is based on the above-mentioned setting. When the electric push rod 473 is extended, the friction block 472 is driven to press the outer peripheral surface of the friction wheel 471 fixed to the upper rotating seat 46, and a damping brake is formed through the contact surface of the high friction coefficient material, forcibly locking the rotational freedom of the upper rotating seat 46; at this time, the upper end of the spinal sample is rigidly fixed, and the rotating component 5 drives the lower end to rotate around the vertical rotation axis, which can accurately simulate the pure torsion working condition of the spine. When the test needs to be switched to the backward or side bending mode, the collaborative control module instructs the electric push rod 473 to retract, the friction block 472 and the friction wheel 471 are instantly disengaged, and the upper rotating seat 46 is unlocked, allowing the upper end of the spine to rotate synchronously around the axis as a whole with the rotation of the lower fixing member 3, and at the same time, the swing mechanism 4 drives the upper fixing member 2 to swing diagonally upward to form a compound bending movement.

[0035] like Figure 6 As shown, in this embodiment, the rotating assembly 5 includes a fixed shell 51, a first drive motor 52 installed in the fixed shell 51, and a lower rotating seat 54 installed at the output end of the first drive motor 52 through a torque limiting coupling 53, the lower fixing member 3 is fixed on the top of the lower rotating seat 54, and the central axis of the output shaft of the first drive motor 52 is the vertical rotation axis.

[0036] Based on the above-mentioned arrangement, the rotating assembly 5 drives the lower rotating seat 54 to rotate around the vertical rotating axis through the first driving motor 52 via the torque limiting coupling 53, driving the lower fixing member 3 to achieve controllable torsion of the lower end of the spinal sample. When the locking assembly 47 rigidly locks the upper rotating seat 46, the unidirectional rotation of the lower fixing member 3 can accurately simulate the stress state of the spine under pure torsion conditions, and the torque limiting function of the coupling automatically cuts off the power transmission when the load exceeds the preset threshold, preventing the sample or equipment from being damaged due to overload, and triggering the real-time alarm of the collaborative control module to ensure the safety of the test.

[0037] Combination Figure 3 and Figure 5As shown, in this embodiment, the driving assembly 45 includes a positioning frame 451 fixedly mounted on the top of the control box 1, a second driving motor 452 mounted on the top of the control box 1 through a mounting seat, and a transmission component 453 for connecting the swing shaft 41 and the second driving motor 452; the transmission component 453 includes a gear 4531, a rack 4532, a transmission bar 4533, and a rotating disk 4534, the gear 4531 is fixedly mounted on the swing shaft 41, and the rack 4532 is horizontally slidably mounted on the fixed The transmission bar 4533 is vertically arranged on the top of the rack 4532 and forms a T-shaped structure with the rack 4532. A strip-shaped sliding groove 45331 is arranged on the transmission bar 4533 along the axial direction of the swing shaft 41. The rotating disk 4534 is fixedly assembled on the output end of the second driving motor 452. A sliding column 4535 that slides in the strip-shaped sliding groove 45331 is eccentrically fixed on the rotating disk 4534 near the side of the transmission bar 4533.

[0038] This embodiment is based on the above-mentioned arrangement. The present invention realizes high-precision, low-loss reciprocating drive of the swing mechanism 4 through the innovative gear 4531 and eccentric composite transmission design; specifically, the second drive motor 452 drives the rotating disk 4534 to rotate, and the sliding column 4535 fixed at the eccentric position of the rotating disk 4534 performs circular motion accordingly and is embedded in the strip sliding groove 45331 of the transmission bar 4533; when the rotating disk 4534 rotates, the sliding column 4535 generates periodic vertical displacement in the strip sliding groove 45331, driving the transmission bar 4533 to slide back and forth along the swing shaft 41 perpendicular to the direction. Since the transmission bar 4533 is connected to the rack 4532 and is a T-shaped structure, the rack 4532 moves horizontally on the positioning frame 451 accordingly, thereby driving the gear 4531 meshing therewith to rotate forward and reverse, and finally converting the continuous rotation of the motor into the ±30° reciprocating swing of the swing shaft 41.

[0039] In order to flexibly and quickly adjust the swing angle of the swing arm 42, as Figure 4 and Figure 5As shown, in this embodiment, a counterweight 411 is provided at one end of the swing shaft 41 away from the swing arm 42. When the swing shaft 41 is not driven by the swing mechanism, the counterweight 411 can keep the swing arm 42 in a vertical state. The transmission bar 4533 is connected to the rack 4532 by a sliding limit structure 8. The sliding limit structure 8 includes a sliding box 81 fixed to the top of the rack 4532. The top of the sliding box 81 is provided with a key slot 82 arranged along the length direction of the rack 4532. A first sliding block 83 and a second sliding block 84 are slidingly arranged in the key slot 82. The bottom end of the transmission bar 4533 is fixed to the top of the first sliding block 83. A fine-tuning screw 85 is also rotatably installed in the key slot 82. The fine-tuning screw 85 is threadedly matched with the second sliding block 84. One end of the fine-tuning screw 85 is connected to a micro servo motor 86.

[0040] This embodiment is based on the above design. The present invention further optimizes the movement stability and adjustment flexibility of the swing mechanism 4 by integrating the counterweight dynamic balance and the adaptive limit technology. Specifically, the counterweight 411 arranged at the end of the swing shaft 41 uses the gravity self-balancing mechanism to enable the swing arm 42 to automatically maintain a vertical neutral position in a non-driven state, which not only reduces the standby power consumption of the motor, but also provides an inertial buffer for the start and stop of the swing motion, thereby ensuring the dynamic stability of the system when the load changes suddenly.

[0041] The sliding limit structure 8 between the transmission bar 4533 and the rack 4532 realizes the dynamic adjustability of the transmission path through modular design: when the micro servo motor 86 drives the fine adjustment screw 85 to rotate, it drives the second sliding block 84 to move horizontally along the key slot 82, thereby changing the initial position of the second sliding block 84 in real time. This design integrates mechanical limit and active adjustment, and its beneficial effects are: on the one hand, by presetting the initial position of the second sliding block 84, the physiological bending angle of the spinal sample can be quickly matched, so that the output of the swing shaft 41 is highly consistent with the actual motion trajectory of the human body (that is, if the distance between the first sliding block 83 and the second sliding block 84 is increased, the swing angle of the swing arm 42 can be correspondingly reduced, and vice versa, the swing angle of the swing arm 42 is increased); on the other hand, in the composite motion test, the servo motor can link the main control system to fine-tune the phase of the transmission bar 4533 in real time, automatically compensate for the transmission error caused by sample deformation or assembly gap, and ensure the time and space synchronization of torsion, swing and bending movements. The synergistic effect of the counterweight 411 and the sliding limit structure 8 enables the system to have both static self-balancing and dynamic self-adaptation capabilities, which simplifies manual intervention and significantly improves the accuracy and reliability of multi-dimensional motion.

[0042] In this embodiment, the collaborative control module includes: a sensor unit for real-time acquisition of the angle of the swing mechanism 4 and the rotation speed of the rotating component 5; a closed-loop feedback unit for dynamically adjusting the motion parameters based on the sensor data; and a human-computer interaction interface for inputting motion modes and displaying real-time data.

[0043] Based on the above design, the collaborative control module of this embodiment deeply integrates mechanical transmission and digital control through an intelligent closed-loop mechanism of multi-dimensional perception and dynamic adjustment, and realizes high-precision collaborative operation of the swing mechanism 4 and the rotating component 5. Specifically, the sensor unit collects the angle encoder signal of the swing shaft 41 and the Hall speed pulse of the rotating component 5 in real time to form an instantaneous data stream of the dynamic motion trajectory; the closed-loop feedback unit dynamically adjusts the speed of the second drive motor 452, the sliding block displacement of the micro servo motor 86, and the start-stop timing of the rotating component 5 through an adaptive algorithm based on the difference analysis between the preset motion mode (such as sinusoidal swing, step loading or multi-axis linkage) and the real-time data, so as to form dynamic compensation for the mechanical transmission chain; the human-computer interaction interface serves as a central interaction node, allowing the operator to select typical biomechanical motion modes such as spinal flexion and extension, scoliosis, or custom compound motion curves through the touch screen, and can also map the swing angle-speed-load torque coupling relationship curve in real time through the visual interface.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A spinal circulatory motion simulation test machine, comprising a control box, an upper fixing member and a lower fixing member, characterized in that: It also includes a swing mechanism, a rotating assembly, and a coordinated control module mounted on the top of the control box; The lower fixing member is installed on the top of the control box through the rotating assembly, and can rotate around the vertical rotation axis of the rotating assembly under the drive of the rotating assembly. The upper fixing member is movably arranged above the lower fixing member through a swing mechanism; the swing mechanism is used to drive the upper fixing member to swing back and forth between a first position and a second position around the horizontal rotation axis of the swing mechanism, and the vertical rotation axis and the horizontal rotation axis are in the same plane; when the upper fixing member is in the first position, the upper fixing member is directly above the lower fixing member; When the upper fixing member is at the second position, the upper fixing member is located obliquely above the lower fixing member; The cooperative control module is integrated in the control box and is used to independently adjust the swing frequency of the swing mechanism and the rotation speed of the rotating component, so that the upper fixing mechanism and the lower fixing mechanism can synchronously generate three-dimensional compound motion.

2. The spinal circulatory motion simulation test machine according to claim 1, characterized in that: The swing mechanism includes a swing shaft horizontally rotatedly arranged on the top of the control box through a bearing seat, a swing arm vertically fixed and welded to one end of the swing shaft, an upper mounting seat movably mounted on the swing arm through a position adjustment component, and a driving component for driving the swing shaft to reciprocate; the position adjustment component can adjust the installation position of the upper mounting seat along the length direction of the swing arm, the upper fixing member is rotatably mounted on the bottom of the upper mounting seat through an upper rotating seat, and a locking component for dynamically locking or releasing the rotational freedom of the upper rotating seat is provided on the upper mounting seat, wherein the central axis of the swing shaft is the horizontal rotation axis, and when the upper fixing member is in the first position, the rotation axis of the upper rotating seat is colinear with the rotation axis of the lower fixing member.

3. The spinal circulatory motion simulation test machine according to claim 2, characterized in that: The swing arm is provided with a movable groove along its length direction, and the position adjustment component includes an adjustment block slidably installed in the movable groove and an adjustment screw rotatably set in the movable groove and threadedly matched with the adjustment block, the upper mounting seat is rigidly fixed to one side of the adjustment block by bolts, and the top end of the adjustment screw passes through the swing arm and is fixed with a knob.

4. The spinal circulatory motion simulation test machine according to claim 2, characterized in that: The locking assembly includes a friction wheel, a friction block and an electric push rod; the friction wheel is rigidly fixed on the upper rotating seat by interference fit, the outer periphery of the friction wheel is covered with a high friction coefficient ceramic composite material, the friction block is fixed to the telescopic end of the electric push rod, and the electric push rod is horizontally fixed to the upper mounting seat on one side of the friction wheel through a connecting seat.

5. The spinal circulatory motion simulation test machine according to claim 1, characterized in that: The rotating assembly includes a fixed shell, a first drive motor installed in the fixed shell, and a lower rotating seat installed on the output end of the first drive motor through a torque limiting coupling, and the lower fixing member is fixed on the top of the lower rotating seat.

6. The spinal circulatory motion simulation test machine according to claim 2, characterized in that: The driving assembly includes a positioning frame fixedly mounted on the top of the control box, a second driving motor mounted on the top of the control box through a mounting seat, and a transmission component for connecting the swing shaft and the second driving motor; the transmission component includes a gear, a rack, a transmission bar, and a rotating disk, the gear is fixedly mounted on the swing shaft, the rack is horizontally slidably mounted on the positioning frame and meshes with the gear, the transmission bar is vertically arranged on the top of the rack, and forms a T-shaped structure with the rack, a strip-shaped sliding groove is provided on the transmission bar along the axial direction of the swing shaft, the rotating disk is fixedly mounted on the output end of the second driving motor, and a sliding column slidably adapted in the strip-shaped sliding groove is eccentrically fixedly arranged on the rotating disk close to the transmission bar.

7. The spinal circulatory motion simulation test machine according to claim 6, characterized in that: A counterweight is provided at one end of the swing shaft away from the swing arm. When the swing shaft is not driven by the swing mechanism, the counterweight can keep the swing arm in a vertical state. The transmission bar and the rack are connected by a sliding limit structure, and the sliding limit structure includes a sliding box fixed to the top of the rack, and a key slot is provided on the top of the sliding box along the length direction of the rack. A first sliding block and a second sliding block are slidably provided in the key slot, wherein the bottom end of the transmission bar is fixed to the top of the first sliding block, and a fine-tuning screw is also rotatably installed in the key slot, and the fine-tuning screw is threadably matched with the second sliding block, and one end of the fine-tuning screw is connected to a micro servo motor.

8. The spinal circulatory motion simulation test machine according to claim 1, characterized in that: The collaborative control module includes: a sensor unit for real-time acquisition of the swing mechanism angle and the rotation speed of the rotating component; a closed-loop feedback unit for dynamically adjusting the motion parameters based on the sensor data; and a human-computer interaction interface for inputting motion modes and displaying real-time data.

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