A spinal cord cyclic motion simulation testing machine

Abstract

The present invention discloses a spinal circulatory motion simulation test machine, which relates to the technical field of test machines and includes a control box, an upper fixing member and a lower fixing member, and also includes a swing mechanism, a rotating assembly and a coordinated control module installed 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, and the upper fixing member is movably arranged above the lower fixing member through the 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. The present invention drives the lower fixing member to rotate around the vertical rotation axis through the rotating assembly, and achieves phase matching with the swing mechanism through the coordinated control module, which can generate three-dimensional composite motion trajectories such as flexion and extension plus torsion, scoliosis plus rotation, etc., accurately simulate the physiological level multi-axis load of the spine, and improve the biomechanical restoration degree.

Description

Technical Field

[0001] The invention relates to the technical field of testing machines, in particular to a spinal circulatory 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 resulting low back pain and lumbar disc herniation 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. A harsh mechanical environment can aggravate the occurrence of disc degeneration, while reducing the load on the disc can help alleviate the symptoms of disc herniation. Currently, researchers are trying to simulate the stress conditions of the spine through experiments in order to find ways to improve the stress state of the lumbar disc and thus alleviate the patient's pain.

[0003] A search of Chinese Patent Publication No. CN113624476B discloses a spinal circulatory motion simulation test machine. Although the spinal circulatory motion simulation test machine disclosed in this patent simulates spinal flexion, extension, and scoliosis through a mechanical linkage structure consisting of an eccentric wheel, rollers, and push-pull rods, it still has the following significant drawbacks:

[0004] Single motion dimension: It can only simulate unidirectional planar motion of spinal flexion and extension or scoliosis. It lacks a drive module for torsional freedom and cannot reproduce the multi-axis coupled mechanical behavior of the human spine during walking and turning (such as flexion-extension-torsion compound motion), resulting in insufficient fidelity of biomechanical simulation.

[0005] Limited adjustment capability: The upper and lower fixing mechanisms rely on manually adjustable studs for position adjustment (e.g., adjustment slots and upper adjustment studs). This results in low adjustment accuracy and efficiency, and is unable to dynamically adapt to the curvature requirements of samples of different sizes during testing.

[0006] 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

[0007] The purpose of the present invention is to provide a spinal circulatory motion simulation test machine to solve the problems raised in the above background technology.

[0008] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0009] 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;

[0010] The lower fixing part is installed on the top of the control box through a rotating assembly and can rotate around the vertical rotation axis of the rotating assembly under the drive of the rotating assembly. 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 collaborative control module is integrated in the control box, and is used to independently adjust the swing frequency of the swing mechanism and the speed of the rotating assembly, so that the upper fixing mechanism and the lower fixing mechanism synchronously generate three-dimensional compound motion.

[0011] Furthermore, the swing mechanism includes a swing shaft horizontally rotated by a bearing seat and arranged on the top of the control box, 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 rotate back and forth; the position adjustment component is capable of adjusting 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 the 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 collinear with the rotation axis of the lower fixing member.

[0012] Furthermore, the swing arm is provided with a movable groove along its length direction, and the position adjustment assembly includes an adjustment block slidably installed in the movable groove and an adjustment screw rotatably set in the movable groove and threadedly engaged with the adjustment block. The upper mounting seat is rigidly fixed to one side of the adjustment block by a bolt, and the top end of the adjustment screw passes through the swing arm and is fixed with a knob.

[0013] Furthermore, the locking assembly comprises a friction wheel, a friction block and an electric push rod; the friction wheel is rigidly fixed to the upper rotating seat by an 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.

[0014] Furthermore, the rotating assembly includes a fixed shell, a first drive motor installed in the fixed shell, and a lower rotating seat installed at the output end of the first drive motor through a torque limiting coupling, and the lower fixing member is fixed to the top of the lower rotating seat.

[0015] Furthermore, the drive assembly includes a positioning frame fixedly mounted on the top of the control box, a second drive motor mounted on the top of the control box through a mounting base, and a transmission component for connecting the swing shaft and the second drive motor; the transmission component includes a gear, a rack, a transmission bar, and a rotating disk, the gear is fixedly assembled on the swing shaft, the rack is horizontally slidably assembled on the positioning frame and engages 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 assembled on the output end of the second drive motor, and a sliding column is eccentrically fixed on the rotating disk close to the transmission bar and slides into the strip-shaped sliding groove.

[0016] 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, and 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 slidingly 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, and the fine-tuning screw is threadedly engaged with the second sliding block. One end of the fine-tuning screw is connected to a micro servo motor.

[0017] Furthermore, the collaborative control module includes: a sensor unit for real-time acquisition of the swing mechanism angle and the rotating component speed; a closed-loop feedback unit for dynamically adjusting motion parameters based on sensor data; and a human-computer interaction interface for inputting motion modes and displaying real-time data.

[0018] Compared with the existing technology, one or more of the above technical solutions have the following beneficial effects:

[0019] The spinal circulatory motion simulation test machine of this application achieves the following effects through the design of dual-axis coordinated drive, intelligent locking and closed-loop control technology:

[0020] 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. It 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-axial load of the spine, and improve the biomechanical restoration degree.

[0021] 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.

[0022] 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;

[0023] 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, realizing seamless switching between pure torsion mode and compound motion mode.

[0024] 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

[0025] The accompanying drawings, 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.

[0026] Figure 1 is a structural schematic diagram of the upper fixing member of the present invention in the first position;

[0027] Figure 2 is a structural schematic diagram of the upper fixing member of the present invention in the second position;

[0028] Figure 3 This is a schematic structural diagram of the swing mechanism of the present invention from a first perspective;

[0029] Figure 4 This is a schematic structural diagram of the swing mechanism of the present invention from a second viewing angle;

[0030] Figure 5 yes Figure 3 Schematic diagram of the local structure at A;

[0031] Figure 6 It is a schematic structural diagram of the rotating assembly of the present invention.

[0032] In the picture:

[0033] 1-control box; 2-upper fixing member; 3-lower fixing member; 4-swing mechanism; 41-swing shaft; 411-counterweight; 42-swing arm; 421-moving slot; 43-position adjustment assembly; 431-adjusting block; 432-adjusting 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-shaped 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-tuning screw; 86-micro servo motor. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0035] See also Figures 1-6 The present invention provides a spinal circulatory motion simulation testing 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 collaborative control module (not shown).

[0036] Combine 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 (as shown in FIG. Figure 1 as shown) and the second position (as Figure 2As shown), 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 speed of the rotating component 5, so that the upper fixing mechanism and the lower fixing mechanism synchronously generate three-dimensional compound motion.

[0037] 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.

[0038] 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 2 The lower fixing member 3 is driven by the rotating assembly 5 to rotate around the vertical rotation axis at a constant speed or 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.

[0039] The collaborative control module independently adjusts the swing frequency and rotational speed (which can be monitored and adjusted using existing sensors), synchronizing the motions of the upper and lower fixtures 2 and 3. This dynamically matches the biaxial motions 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-world scenarios such as walking and turning. Compared to traditional uniaxial testing machines, this device, through its three-dimensional composite motion generation, biaxial decoupling control, and enhanced dynamic stability, provides a more physiologically accurate and efficient testing platform for spinal biomechanics research and medical device development.

[0040] like Figure 3As shown, in this embodiment, the swing mechanism 4 includes a swing shaft 41 horizontally rotated and 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 rotate back and forth; 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, and the upper fixed part 2 is rotatably mounted on the bottom of the upper mounting seat 44 through the upper rotating seat 46, and the upper mounting seat 44 is provided with a locking component 47 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 fixed part 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 fixed part 3.

[0041] 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 component 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.

[0042] 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.

[0043] 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 part 2 maintains a fixed posture and cooperates with the rotating assembly 5 to drive the lower fixing part 3 to rotate around the vertical rotation axis, accurately simulating the pure torsional force of the spine; when the upper fixing part 2 is reset to the first position, the cooperative control module automatically releases the lock, allowing the upper fixing part 2 to rotate as a whole around the vertical rotation axis synchronously with the rotation of the lower fixing part 3, and swing to the upper side again, realizing the compound movement switching of the spine backward (sagittal plane) or scoliosis (coronal plane).

[0044] The present invention ensures efficient switching between pure torsion and compound bending motion modes through the coordination of the swing structure and 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.

[0045] 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 that is slidably installed in the movable groove 421 and an adjustment screw 432 that is rotatably set in the movable groove 421 and threadedly engaged with the adjustment block 431. 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.

[0046] Based on the above-mentioned arrangement, this embodiment converts rotary motion into linear displacement when knob 433 is rotated, driving adjustment block 431 and upper mounting seat 44 along movable slot 421. This mechanical transmission design achieves position locking through the self-locking nature of the screw, ensuring no unexpected shifting caused by vibration or inertial loads during testing. Furthermore, the adjustment process can be completed with a single-handed rotation of knob 433, without requiring fixture disassembly or the use of auxiliary tools. Compared to the traditional multi-level positioning hole adjustment method (which requires loosening the bolt, changing the hole position, and then re-tightening), this method not only eliminates the discrete errors of step-by-step adjustment but also significantly reduces sample switching time.

[0047] 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 to the upper rotating seat 46 by an 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.

[0048] Based on the above-mentioned configuration, this embodiment employs a mechanism in which, when the electric push rod 473 is extended, the friction block 472 is driven to press against the outer circumference of the friction wheel 471 fixed to the upper rotating seat 46. This creates a damping brake through the contact surface of the high-friction material, forcibly locking the rotational freedom of the upper rotating seat 46. At this point, the upper end of the spinal specimen is rigidly fixed, and the rotating assembly 5 drives the lower end to rotate about the vertical rotation axis, accurately simulating the pure torsional working condition of the spine. When the test requires switching to the recline or lateral bending mode, the coordinated control module instructs the electric push rod 473 to retract, instantly disengaging the friction block 472 from the friction wheel 471. The upper rotating seat 46 is unlocked, allowing the upper end of the spine to rotate synchronously with the rotation of the lower fixing member 3 about the axis. Simultaneously, the swing mechanism 4 drives the upper fixing member 2 to swing diagonally upward, forming a compound bending motion.

[0049] like Figure 6As 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.

[0050] Based on the above-mentioned configuration, this embodiment utilizes a first drive motor 52, via a torque-limiting coupling 53, to drive the lower rotating seat 54 to rotate about its vertical axis, thereby driving the lower fixture 3 to achieve controlled torsion of the lower end of the spinal specimen. When the locking assembly 47 rigidly locks the upper rotating seat 46, the unidirectional rotation of the lower fixture 3 accurately simulates the stress state of the spine under pure torsion conditions. The torque-limiting function of the coupling automatically cuts off power transmission when the load exceeds a preset threshold, preventing damage to the specimen or equipment due to overload. This also triggers a real-time alarm in the collaborative control module to ensure test safety.

[0051] Combine Figure 3 and Figure 5 As 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 base, 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 sliding groove 45331 is provided 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 into the strip sliding groove 45331 is eccentrically fixed on the side of the rotating disk 4534 close to the transmission bar 4533.

[0052] 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 produces 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, thereby driving the gear 4531 meshing with it to rotate forward and reverse, and finally converting the continuous rotation of the motor into a ±30° reciprocating swing of the swing shaft 41.

[0053] In order to flexibly and quickly adjust the swing angle of the swing arm 42, as shown in FIG. Figure 4 and Figure 5 As 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 and the rack 4532 are connected 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 groove 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 groove 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 groove 82. The fine-tuning screw 85 is threadedly engaged with the second sliding block 84. One end of the fine-tuning screw 85 is connected to a micro servo motor 86.

[0054] This embodiment is based on the above design. The present invention further optimizes the motion stability and adjustment flexibility of the swing mechanism 4 by integrating the counterweight dynamic balance and adaptive limit technology. Specifically, the counterweight 411 set 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 the 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, ensuring the dynamic stability of the system when the load suddenly changes.

[0055] The sliding stopper structure 8 between the transmission bar 4533 and the rack 4532 achieves dynamic adjustability of the transmission path through a modular design: When the micro-servo motor 86 drives the fine-tuning screw 85 to rotate, it drives the second slider 84 to move horizontally along the keyway 82, thereby changing the initial position of the second slider 84 in real time. This design combines mechanical stoppering with active adjustment. Its beneficial effects include: first, by presetting the initial position of the second slider 84, the physiological curvature angle of the spinal specimen can be quickly matched, ensuring that the output of the swing axis 41 closely matches the actual motion trajectory of the human body (i.e., increasing the distance between the first slider 83 and the second slider 84 correspondingly reduces the swing angle of the swing arm 42, and vice versa). Second, during complex motion testing, the servo motor can coordinate with the main control system to fine-tune the phase of the transmission bar 4533 in real time, automatically compensating for transmission errors caused by specimen deformation or assembly gaps, and ensuring the spatiotemporal synchronization of torsional, swinging, 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, while simplifying manual intervention and significantly improving the accuracy and reliability of multi-dimensional movement.

[0056] In this embodiment, the collaborative control module includes: a sensor unit that collects the angle of the swing mechanism 4 and the rotation speed of the rotating component 5 in real time; a closed-loop feedback unit that dynamically adjusts the motion parameters based on the sensor data; and a human-computer interaction interface for inputting motion modes and displaying real-time data.

[0057] Based on the above design, this embodiment utilizes an intelligent closed-loop mechanism combining multi-dimensional sensing and dynamic adjustment to deeply integrate mechanical transmission with digital control, achieving high-precision coordinated operation between the swing mechanism 4 and the rotating assembly 5. Specifically, the sensor unit collects real-time signals from the angle encoder of the swing shaft 41 and the Hall effect speed pulses of the rotating assembly 5, forming an instantaneous data stream of the dynamic motion trajectory. Based on discrepancies between preset motion patterns (such as sinusoidal swing, step loading, or multi-axis linkage) and real-time data, the closed-loop feedback unit dynamically adjusts the speed of the second drive motor 452, the displacement of the slider of the micro-servo motor 86, and the start-stop timing of the rotating assembly 5 through an adaptive algorithm, thereby providing dynamic compensation for the mechanical transmission chain. The human-machine interface serves as a central interaction node, allowing the operator to select typical biomechanical motion patterns such as spinal flexion and extension, scoliosis, or customized composite motion curves via a touchscreen display. Furthermore, a visual interface allows for real-time mapping of the swing angle-speed-load torque coupling curve.

[0058] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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 top of the control box; The lower fixing member is mounted on the top of the control box via a 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 via 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 collaborative control module is integrated into the control box and is used to independently adjust the swing frequency of the swing mechanism and the speed of the rotating assembly, so that the upper fixing mechanism and the lower fixing mechanism synchronously generate a three-dimensional compound motion; The camshaft is fixed to the chassis and is adapted to move the camshaft to the chassis so as to allow the camshaft to move in a forward direction and to move the camshaft to the chassis so as to move the camshaft back and forth.

2. The spinal circulatory motion simulation testing machine according to claim 1, characterized in that: The swing arm is provided with a movable groove along its length direction, and the position adjustment assembly includes an adjustment block slidably installed in the movable groove and an adjustment screw rotatably set in the movable groove and threadedly engaged with the adjustment block. The upper mounting seat is rigidly fixed to one side of the adjustment block by a bolt, and the top end of the adjustment screw passes through the swing arm and is fixed with a knob.

3. The spinal circulatory motion simulation testing machine according to claim 1, characterized in that: The locking assembly includes a friction wheel, a friction block and an electric push rod; the friction wheel is rigidly fixed to the upper rotating seat through an 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.

4. The spinal circulatory motion simulation testing 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.

5. The spinal circulatory motion simulation testing machine according to claim 1, characterized in that: The drive assembly includes a positioning frame fixedly mounted on the top of the control box, a second drive motor mounted on the top of the control box through a mounting base, and a transmission component for connecting the swing shaft and the second drive motor; the transmission component includes a gear, a rack, a transmission bar, and a rotating disk, the gear is fixedly assembled on the swing shaft, the rack is horizontally slidably assembled on the positioning frame and engages 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 assembled on the output end of the second drive motor, and a sliding column is eccentrically fixed on the rotating disk close to the transmission bar and slides into the strip-shaped sliding groove.

6. The spinal circulatory motion simulation testing machine according to claim 5, 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. 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 slidingly provided in the key slot, wherein the bottom end of the transmission bar is fixed on 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 engaged with the second sliding block, and one end of the fine-tuning screw is connected to a micro servo motor.

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

Images