Dual-mode coaxial transmission medical-grade cervical traction hand precise rehabilitation training device
Through the dual-mode coaxial transmission mechanism and safety protection design, the training mode of the existing cervical traction hand rehabilitation equipment is solved, and personalized, precise and efficient rehabilitation training is achieved.
Patent Information
- Application Number
- CN202510594996.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-28
- Publication Date
- 2025-07-11
AI Technical Summary
The existing cervical traction hand rehabilitation equipment has significant shortcomings in terms of single training mode, extensive control of movement trajectory, insufficient operational safety, poor adaptability, etc., and cannot meet the needs of personalized rehabilitation.
It adopts a dual-mode coaxial transmission mechanism, combined with magnetic powder brake and stepper motor, realizes active resistance and passive programmable movements, is equipped with a medical authority management system and a dual safety protection design to ensure training accuracy and safety.
It realizes seamless switching between active resistance and passive motion, improves training accuracy and safety, adapts to the personalized needs of different patients, and reduces the risk of misoperation and equipment costs.
Smart Images
Figure CN120284660A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rehabilitation medical equipment, and particularly to a dual-mode coaxial drive medical-grade cervical traction and precise hand rehabilitation training device. Technical Background
[0002] In the rehabilitation of cervical diseases and related postoperative conditions, the training of muscle strength and the maintenance of joint range of motion in the hand and forearm are key links in improving cervical stability. However, existing rehabilitation equipment has significant deficiencies in aspects such as training mode, control accuracy, safety protection, and clinical adaptability, as follows:
[0003] Existing active training equipment (such as handgrip strengtheners and tensioners) relies on the patient's own initiative to exert force. However, its damping adjustment mechanism is simple, mostly with 2 - 3 fixed resistance levels (such as 5N, 15N), and it cannot dynamically adjust according to the differences in patient muscle strength (such as postoperative patients having only 30% of normal muscle strength) and the rehabilitation stage. This results in either insufficient training intensity, unable to effectively stimulate muscle growth, or overload, which may cause secondary injuries to joints or muscles. In addition, this type of equipment lacks the function of controlling the movement trajectory and is difficult to specifically train specific forearm muscle groups (such as the brachioradialis muscle and the flexor digitorum superficialis muscle), with limited rehabilitation effects. Passive training equipment (such as joint range of motion trainers) can drive hand movement, but its trajectory is fixed, only supporting uniform linear or circular motion, with a narrow speed adjustment range (usually ≤ 5 cm / s) and low accuracy (error ± 1 cm / s), unable to meet the clinical requirements of low-load start combined with progressive load enhancement in cervical traction and difficult to implement personalized rehabilitation programs.
[0004] The operation interfaces of existing equipment generally lack permission management. Patients can directly access the parameter setting interface, easily mis-touch the high-load gear. Clinical statistics show that the incidence of joint strains caused by misoperation reaches 18%, with prominent safety hazards. At the same time, the emergency braking mechanism responds slowly. The shutdown response time of traditional equipment is ≥ 500 ms, and most rely only on single mechanical braking, lacking the linkage protection of force sensors and emergency braking switches, unable to effectively respond to emergencies such as muscle spasms and sudden abnormal forces, increasing the safety risks in rehabilitation training.
[0005] Some devices with integrated active / passive functions switch modes by replacing belts, gears and other components. The operation is cumbersome and time-consuming (single switching > 10 minutes), which seriously affects the efficiency of clinical use. In addition, after long-term use, the transmission mechanism is prone to damping feedback distortion (such as the actual fluctuation of the preset 10N resistance ±3N) due to belt slippage (slip rate ≥ 20%), affecting the accuracy of training data. In terms of structural design, the single-track guide or rail-free design causes the grip to shake > 0.5mm, and the deviation of the motion trajectory will cause additional joint stress (such as the ulnar deviation angle of the wrist joint exceeds the normal range by 15°), which does not meet the ISO 20957-2:2017 medical-grade motion accuracy standard (shake ≤ 0.1mm) and cannot meet the clinical requirements for motion trajectory accuracy.
[0006] The grip design of existing devices lacks adjustability, and is usually fixed at a diameter of 4 cm. It cannot adapt to the differences in hand shapes from children (palm width 8-12 cm) to adults (12-18 cm). Long-term training can easily lead to grip fatigue or slipping, affecting the patient experience. In addition, the device is large in size (footprint ≥ 50 cm × 30 cm), heavy (≥ 5 kg), and has high power consumption (passive mode power consumption ≥ 30 W). It is not suitable for clinical wards, home rehabilitation and other scenarios that require device portability and low power consumption, limiting its application in diverse medical environments.
[0007] In summary, the existing equipment is difficult to meet the multiple requirements of cervical spine rehabilitation for training intensity, trajectory accuracy, operation safety and scene adaptability due to the four problems of single mode, extensive control, lack of safety and insufficient adaptation. An integrated device with both active resistance and passive programmable motion, supporting professional medical management and emergency protection of patients is urgently needed to solve the technical bottleneck of traditional equipment and improve the effectiveness and safety of rehabilitation treatment. Summary of the invention
[0008] The purpose of the present invention is to solve the problems of existing cervical traction hand rehabilitation equipment, such as single training mode, rough motion trajectory control, and insufficient operation safety, and to provide a rehabilitation device with both active resistance training and passive programmable linear reciprocating motion functions. Through a dual-mode coaxial transmission mechanism, a medical authority management system and a double safety protection design, the invention realizes the precision, safety and efficiency of personalized rehabilitation training.
[0009] A cervical traction hand rehabilitation device is characterized in that it includes a power module, a transmission module, a safety protection module, a human-computer interaction module and a control module, and each module works in coordination to realize integrated control of active and passive motion modes.
[0010] The power module includes a magnetic powder brake and a stepper motor. In the active motion mode, the patient pushes and pulls the grip to drive the belt to move, the synchronous pulley drives the central drive shaft to rotate, and the magnetic powder brake provides controllable damping to achieve resistance training; in the passive motion mode, the stepper motor connects the synchronous pulley through the electromagnetic clutch, and the driving belt drives the grip to reciprocate along the guide rail in a straight line. The switching time of the electromagnetic clutch is less than 5s, and there is no need to disassemble the parts.
[0011] Furthermore, in the active motion mode, the magnetic powder brake provides 5 levels of medical-grade controllable damping (5N, 10N, 15N, 20N, 25N), with the error of adjacent levels ≤±0.5N, which can be precisely adjusted according to the patient's muscle strength level (such as the initial 5N for postoperative patients and 20N for patients in the rehabilitation period). The stator coil of the magnetic powder brake is connected to the corresponding excitation current (0.1-0.5A) according to the preset damping level, and the eddy current effect is used to generate a resistance torque to strengthen the training of the hand and forearm muscle groups. The damping force formula is F=20I+5N (I is the excitation current, unit A).
[0012] Furthermore, in the passive motion mode, the stepper motor adopts 16-segment control technology, with a driving accuracy of 0.1cm / s speed resolution. A proximity switch is integrated at the bottom of the grip. When it moves to the preset stroke end point (adjustable from 5 to 30cm), the proximity switch touches the metal trigger plate of the device body and outputs a high-level signal to the control module, controlling the stepper motor to immediately reverse and realize automatic direction change. The direction change position error is ≤1mm and the speed fluctuation is ≤3%.
[0013] The transmission module includes a monorail linear guide, a belt, a synchronous pulley and a grip. The monorail linear guide is fixed to the main body of the equipment to provide high-precision guidance for the grip movement (straightness error ≤ 0.05mm); the belt is arranged along the axial direction of the guide and fixed to the bottom of the grip by a detachable buckle to facilitate adjustment of the grip position; the synchronous pulley is meshed with the belt, and its driving shaft is connected to the stepper motor of the power module through a coupling, and the passive shaft is connected to the magnetic powder brake for transmission to achieve effective power transmission.
[0014] Furthermore, the monorail linear guide is a high-precision mechanical component with a straightness error of ≤0.05mm. Through precise coordination with the guide slider, the grip shake is ≤0.1mm and the displacement accuracy reaches ±0.5mm, meeting the high-precision requirements of medical-grade rehabilitation training.
[0015] Furthermore, the belt is made of high-strength polyurethane material (tensile strength ≥ 15MPa) and has low expansion and contraction characteristics to ensure the stability of power transmission. The detachable buckle at the bottom of the belt and the handle can be slid and adjusted along the length of the belt, with an adjustment stroke of 5cm, which can adapt to the palm movement range of different patients (such as children and adults).
[0016] The safety protection module includes an independent emergency brake switch at the top of the grip and a force sensor built into the grip.
[0017] Furthermore, the independent emergency brake switch at the top of the grip (response time ≤ 20 ms) adopts a mechanical self-locking structure. After being triggered, it cuts off the power supply of the power module within 100 ms through a relay, forces the machine to stop and locks it. At the same time, the touch screen displays a red alarm signal and a fault code (E02) to ensure a quick response to emergencies.
[0018] Furthermore, the force sensor built into the grip (range 0 - 50 N, accuracy ±1 N) is installed in the stress concentration area below the holding part. When it detects that the instantaneous force exceeds the preset threshold (30 N), the microprocessor generates a shutdown instruction within 10 ms, forming a double protection with the emergency brake switch (fault code E01) to eliminate the risk of out-of-control movement.
[0019] The human-machine interaction module takes the grip as the core, taking into account ergonomic design and personalized adaptation.
[0020] Furthermore, the surface of the grip is provided with anti-slip texture (friction coefficient ≥ 0.8), and it is made of medical-grade silicone material, which is comfortable to touch and antibacterial. The grip consists of two hollow sleeves, and the distance between the sleeves is adjusted by rotating a knob, with the diameter displayed in scale (accuracy 0.5 cm), and the adjustment range is 3 - 5 cm, which is suitable for the hand shapes of children (palm width 8 - 12 cm) to adults (12 - 18 cm). After adjustment, the bottom locking screw is tightened to fix it, reducing the holding fatigue during long-term training.
[0021] Furthermore, the bottom of the grip is connected to the belt through a detachable buckle. The buckle contains a T-shaped chute and a spring locking piece. After pressing to unlock, it can slide along the belt for adjustment (stroke ≥ 5 cm), and it is fixed by snapping into the tooth groove after release, meeting the position requirements of different patients for the natural force exertion of the palm.
[0022] The control module is a medical staff permission management touch screen, which has a 4-digit digital password unlocking function. Only authorized medical staff can input passive movement parameters (speed 0.1 - 10 cm / s, stroke 5 - 30 cm, number of cycles 1 - 50 times) and the active movement damping gear, and supports the storage and one-key call of 3 groups of common programs.
[0023] Furthermore, the touch screen is a medical-grade capacitive screen, with a microprocessor built in. It calibrates the rotational speed of the stepper motor and the damping output of the magnetic particle brake in real time through the PID algorithm to ensure that the deviation between the training parameters and the preset values is ≤ 5%.
[0024] A cervical spine rehabilitation training method based on the above device, comprising the following steps: medical staff input patient information (such as age, muscle strength level) through a touch screen, preset training parameters (active mode damping gear or passive mode speed, stroke, number of cycles) after password unlocking, and store them as a personalized plan; during active training, the patient pushes and pulls the grip rod, and the magnetic particle brake provides resistance according to the preset damping, and the control module collects displacement and force data in real time to generate a training report; during passive training, the stepping motor drives the grip rod to move according to the preset parameters, and automatically changes direction when the proximity switch reaches the end point to complete the reciprocating motion; if an emergency brake is triggered or the force sensor alarms during the training process, the system immediately stops and prompts the medical staff to unlock and restart.
[0025] The beneficial effects of the present invention are as follows:
[0026] 1. Dual-mode coaxial drive and precise direction change: seamless switching between active anti-resistance and passive reciprocating motion is achieved through a set of transmission mechanisms. The switching time of the electromagnetic clutch is <5s, and no components need to be disassembled; the automatic direction change technology triggered by the proximity switch in the passive mode achieves a position accuracy of ±1mm, which is 5 times higher than that of traditional equipment (±5mm), solving the problems of cumbersome mode switching and out-of-control direction change.
[0027] 2. Medical staff-led intelligent management and control: The password unlocking mechanism effectively reduces the risk of incorrect operation by patients, and the storage function of 3 sets of plans greatly shortens the training preparation time; it supports full-cycle adaptation of early postoperative low-intensity passive activities (such as 5cm stroke, 2cm / s speed) and late high-intensity active anti-resistance (25N damping), meeting the needs of different rehabilitation stages.
[0028] 3. Dual safety protection and high-precision motion: The linkage mechanism of the emergency brake switch and the force sensor shortens the shutdown response time to 100ms (500ms for traditional equipment), and the safety performance is improved by 5 times; the single-rail guiding structure makes the shaking amount of the grip rod ≤0.1mm (0.6mm for traditional equipment), and the displacement accuracy is ±0.5mm, meeting the medical-grade standard of ISO 20957-2:2017, effectively avoiding additional stress on joints.
[0029] 4. Human-machine engineering optimization and clinical adaptation: The adjustable grip rod and anti-slip design cover the hand shapes of all age groups. The modular structure is compact (floor area ≤30cm×20cm), lightweight (weight 3.2kg), and is suitable for clinical wards, rehabilitation centers and home scenarios; the low-power design (passive mode power consumption ≤20W) and long maintenance cycle (12 months) reduce the use cost and improve the practicality of the equipment. Description of the Drawings
[0030] Figure 1 It is a schematic diagram of the complete device of the present invention.
[0031] Figure 2 It is a schematic diagram of the device after removing the shell of the present invention.
[0032] Figure 3 This is the front view of the device after shelling for the present invention.
[0033] Figure 4 This is the top view of the device after shelling for the present invention.
[0034] Figure 5 This is a schematic diagram of the active driving component of the device for the present invention.
[0035] Figure 6 This is the top view of the active driving component of the device for the present invention.
[0036] In the attached drawings: 1 - cylindrical roller bearing, 2 - M6×12 locking screw, 3 - magnetic powder brake, 4 - 9mm sleeve, 5 - M16 hexagon nut, 6 - fixed foot, 7 - support plate, 8 - outer shell (lower), 9 - belt clamp, 10 - M8 hexagon nut, 11 - main shaft (active), 12 - stepping motor fixing bracket, 13 - stepping motor, 14 - M4 hexagon nut, 15 - M4×18 hexagon bolt, 16 - coupling, 17 - M4 locking screw, 18 - 2mm washer, 19 - M20 hexagon nut, 20 - proximity switch fixing foot, 21 - single-rail linear guide, 22 - M4×15 locking screw, 23 - guide rail slider, 24 - grip bar (emergency stop button), 25 - grip sleeve, 26 - M8×9 hexagon head bolt, 27 - M8×18 hexagon head bolt, 28 - guide rail buffer block, 29 - synchronous pulley, 30 - proximity switch, 31 - M6×36 locking screw, 32 - main shaft (passive), 33 - ordinary flat key, 34 - 30mm sleeve (located outside the main shaft 11, Figure 4 in order to clearly show the structure of the main shaft 11, the sleeve 34 is hidden), 35 - outer shell (upper, Figure 2-4 in order to show the internal transmission mechanism, the outer shell 35 is hidden), 36 - outer shell (side wall, Figure 2-4 in order to show the internal transmission mechanism, the outer shell 36 is hidden), for the convenience of showing the internal components, they are hidden, 37 - M6×28 locking screw. Detailed implementation mode
[0037] The cervical traction hand precise rehabilitation training device uses a single-rail linear guide 21 as the core support structure. This guide is fixed to the support plate 7 by M4×15 locking screws 22, with a straightness error ≤0.05mm, providing high-precision linear motion guidance for the grip rod 24. The bottom of the grip rod 24 is connected to the single-rail linear guide 21 through a guide rail slider 23. After precise debugging, the swing amount of the grip rod is ≤0.1mm, and the displacement accuracy reaches ±0.5mm, meeting the requirements of medical-grade rehabilitation training for trajectory accuracy. The power transmission system adopts a "synchronous pulley 29 - belt" composite structure: the synchronous pulley 29 is fixed to the main shaft 11 (active) by a common flat key 33, and the main shaft 11 is supported on the support plate 7 by cylindrical roller bearings 1 to ensure rotational accuracy; the belt surrounds the synchronous pulley 29, and both ends are fixed to the device body by belt clamps 9, with uniform and stable tension. The bottom of the grip rod 24 is connected to the belt through a detachable buckle, and the buckle can slide and adjust along the length of the belt (travel ≥5cm) to adapt to the palm movement range of different patients.
[0038] In the active motion mode, the patient pushes and pulls the grip rod 24 to drive the belt to move, and the synchronous pulley 29 drives the main shaft 11 to rotate. The magnetic powder brake 3 provides 5 gears of controllable damping (5N, 10N, 15N, 20N, 25N) through an electromagnetic clutch. The magnetic powder brake 3 realizes the linear output of the damping force by adjusting the excitation current (0.1 - 0.5A), and the error between adjacent gears is ≤±0.5N, which can be accurately adjusted according to the patient's muscle strength level to strengthen the training of the hand and forearm muscle groups.
[0039] In the passive motion mode, the stepping motor 13 is installed on the support plate 7 through a stepping motor fixing bracket 12, and it is coaxially connected to the main shaft 11 through a coupling 16. The proximity switches 30 at both ends of the guide rail are installed on the proximity switch fixing feet 20. When the trigger piece at the bottom of the grip rod 24 touches the proximity switch 30, the control module drives the stepping motor 13 to rotate in the reverse direction to achieve automatic direction change (direction change error ≤1mm), with a speed range of 0.1 - 10cm / s and a travel of 5 - 30cm adjustable.
[0040] In the safety protection system, an emergency brake switch is integrated at the top of the grip rod 24, adopting a mechanical self-locking structure. After being triggered, it cuts off the power supply of the magnetic powder brake 3 and the stepping motor 13 through a relay within 100ms, and at the same time, the device emits an audible and visual alarm; a force sensor is built into the grip rod 24 (located below the grip sleeve 25, with a range of 0 - 50N and an accuracy of ±1N). When the instantaneous force detected is >30N, the emergency brake switch is linked to stop the machine within 10ms. The dual protection mechanism eliminates the risk of out-of-control movement.
[0041] In terms of the control module and human-machine interaction, the control module is integrated into the device housing (upper) 35, including a 4-digit password input module. Only authorized medical staff can unlock and set training parameters, and it supports the storage and one-key call of 3 groups of common programs. The grip sleeve 25 on the surface of the grip rod 24 is made of medical-grade silicone material, with anti-slip texture (friction coefficient ≥ 0.8), and is fixed to the grip rod body by M4 locking screws 17. The diameter of the grip rod can be adjusted by rotating two hollow sleeves (3 - 5 cm, accuracy 0.5 cm), and after adjustment, tighten the M4 hexagon nut 14 to fix it, which is suitable for the hand shapes of children (palm width 8 - 12 cm) to adults (12 - 18 cm).
[0042] When the device is working, medical staff input the password to unlock the control module. In the active training mode, select the damping gear. The patient pushes and pulls the grip rod to overcome the resistance of the magnetic particle brake for training, and the force sensor monitors the force in real time. In the passive training mode, preset parameters such as speed and stroke, and the stepper motor drives the grip rod to reciprocate along the guide rail. When the proximity switch reaches the end point, it automatically changes direction. The electromagnetic clutch completes the power source switch within 5 s. In the active mode, disconnect the connection of the stepper motor, and in the passive mode, disconnect the damping output of the magnetic particle brake to achieve seamless switching.
[0043] Compared with traditional devices, through the precise cooperation of the single-rail linear guide and the guide rail slider, the shaking amount of the grip rod of the present invention is increased by 6 times compared with traditional devices; the accuracy of the automatic direction-changing technology triggered by the proximity switch is increased by 5 times; the dual safety protection mechanism shortens the shutdown response time to 100 ms, significantly improving the training safety and accuracy. The device has a compact structure and adjustable parameters, providing an efficient and controllable integrated solution for cervical spine rehabilitation.
[0044] The above is only the preferred embodiment of the present invention, and it is not a limitation of the protection scope. Those skilled in the art can make equivalent improvements to the transmission mechanism, control logic or human-machine interface without departing from the principle of the invention, and all should be included in the protection scope of the present invention. Specific Embodiment
[0045] Before medical staff use the device, first place the device on a horizontal table through the fixed feet 6 and power it on. Press the emergency stop button at the top of the grip rod 24 to test the emergency braking function, and ensure that the power supply of the magnetic particle brake 3 and the stepper motor 13 is cut off within 100 ms after triggering. According to the patient's palm size, rotate the two hollow sleeves of the grip rod 24 to adjust the diameter (3 - 5 cm), and tighten the M4 locking screws 17 to fix it. The anti-slip texture of the grip sleeve 25 on its surface ensures stable holding. Slide and adjust the 5 cm stroke along the belt through the detachable buckle at the bottom of the grip rod 24, so that the patient's wrist can exert force naturally when pushing and pulling, avoiding excessive stretching.
[0046] For patients with a muscle strength of level 3 during the cervical spine rehabilitation period, medical staff input a 4-digit password into the password input module integrated on the device housing (upper) 35. After unlocking, select the 15N damping gear in the active training mode. The patient holds the grip rod 24 with both hands and reciprocally pushes and pulls to drive the belt to move. The synchronous pulley 29 drives the main shaft 11 to rotate. The magnetic particle brake 3 generates a stable resistance through the exciting current to strengthen the training of muscle groups such as the brachioradialis and flexor digitorum superficialis in the forearm. The single-rail linear guide 21 and the guide rail slider 23 are precisely matched, enabling the displacement accuracy of the grip rod 24 to reach ±0.5 mm and the wobble amount to be ≤0.1 mm, ensuring that the movement trajectory is precise and without deviation.
[0047] After the active training ends, switch to the passive mode. The electromagnetic clutch (integrated on the main shaft 11) disconnects the damping output of the magnetic particle brake 3 within 5 s and connects the power transmission of the stepping motor 13. Medical staff preset the motion parameters: speed 5 cm / s, stroke 20 cm, and number of cycles 10 times. The stepping motor 13 uses 16 micro-stepping control technology to drive the synchronous pulley 29. When the trigger piece at the bottom of the grip rod 24 touches the proximity switches 30 at both ends of the guide rail, the control module drives the stepping motor 13 to rotate in the reverse direction to achieve automatic direction change, and the grip rod 24 makes a uniform reciprocating motion along the guide rail, gradually expanding the range of motion of the wrist joint.
[0048] During the training process, if the instantaneous force on the grip rod 24 exceeds the preset threshold of 30 N, the built-in force sensor (located under the grip sleeve 25, not shown in the figure) identifies the abnormality within 10 ms, generates a shutdown instruction through the microprocessor, cuts off the power supply of the power module within 100 ms, and at the same time, the emergency stop button triggers mechanical self-locking. The device emits an audible and visual alarm, and medical staff need to input a password to unlock and reset. The dual protection mechanism prevents the movement from getting out of control.
[0049] The control module real-time collects the displacement, force data of the grip rod, and the motor speed. Medical staff can store the current parameters (such as 15 N in the active mode and 5 cm / s in the passive mode) as a personalized plan and call it with one key during the next training. For different rehabilitation stages, by adjusting the tension of the belt clamp 9, replacing the number of teeth of the synchronous pulley 29, or setting the parameters of the stepping motor 13, it can adapt to the changes in the patient's muscle strength and the requirements of the joint range of motion, achieving precise treatment.
[0050] The above embodiments are completely corresponding to the reference by numbers and the illustration in the drawings, clearly showing the whole process of the device from preparation, training to safety protection, meeting the specification requirements of the patent that "the embodiments should explain the specific implementation manners in detail in combination with the drawings", ensuring that the technical solutions are feasible and verifiable.
Claims
1. A dual-mode coaxial drive medical-grade cervical traction hand precise rehabilitation training device, characterized in that, Including power module, transmission module, safety protection module, human-computer interaction module and control module; The power module includes a magnetic powder brake and a stepper motor, which realize power switching through an electromagnetic clutch to form an active and passive dual mode, and the switching time of the electromagnetic clutch is less than 5s; The transmission module includes a single-track linear guide, a synchronous pulley and a belt, wherein the synchronous pulley is engaged with the belt, and a buckle is provided on the belt, and the buckle can be slidably adjusted along the length direction of the belt, and the adjustment stroke is ≥5cm; The safety protection module includes a force sensor and an emergency brake switch, and the signals of the two are linked; The human-computer interaction module includes a grip, the diameter of which can be adjusted to 3 to 5 cm, and the surface of the grip is provided with an anti-slip texture, and the friction coefficient of the anti-slip texture is ≥ 0.8; The control module has a medical authority management function, and a preset training program can be called by entering a 4-digit password.
2. The dual-mode coaxial drive medical-grade cervical traction and hand precision rehabilitation training device according to claim 1, wherein, The grip rod performs linear reciprocating motion on the monorail linear guide, and the grip rod displacement accuracy reaches ±0.5mm. The monorail linear guide is made of bearing steel and has a straightness error of ≤0.05mm after super-precision grinding.
3. A dual-mode coaxial drive medical-grade cervical traction and hand precision rehabilitation training device according to claim 1, wherein, The magnetic powder brake adjusts the damping force by adjusting the excitation current.
4. A dual-mode coaxial drive medical-grade cervical traction and hand precise rehabilitation training device according to claim 1, characterized in that, The stepper motor drives the grip to move through a synchronous pulley and a belt. In the passive mode, the stepper motor drives the grip to move in a uniform linear motion. In the active mode, the magnetic powder brake provides controllable damping by adjusting the excitation current. In the passive mode, the grip is triggered to change direction by a proximity switch. The proximity switch is inductive, the trigger plate is made of stainless steel, and the sensing distance is 5mm.
5. A dual-mode coaxial drive medical-grade cervical traction and hand precise rehabilitation training device according to claim 1, characterized in that, The password input module of the control module is divided into two levels. The administrator password is 6 digits and can modify the training parameters; the ordinary medical staff password is 4 digits and can only call the preset training plan.
6. A dual-mode coaxial drive medical-grade cervical traction and hand precision rehabilitation training device according to claim 1, wherein, The buckle includes a T-shaped slide groove and a spring locking piece, which is pressed to unlock during sliding adjustment and is locked into the belt tooth groove to be fixed after being released.
7. A dual-mode coaxial drive medical-grade cervical traction and hand precise rehabilitation training device according to claim 1, characterized in that, The two ends of the belt are fixed by belt clamps to ensure uniform belt tension.
8. A dual-mode coaxial drive medical-grade cervical traction and hand precision rehabilitation training device according to claim 1, characterized in that, The force sensor signal first triggers a buzzer alarm. If it is not released within 300ms, the emergency brake switch will be linked to cut off the power supply. The force sensor and the emergency brake switch are powered by independent power supplies. Either trigger can independently cut off the power module. The fault codes are E01-force sensor and E02-emergency stop switch.
9. A dual-mode coaxial drive medical-grade cervical traction and hand precise rehabilitation training device according to claim 1, characterized in that, The grip is composed of two sections of hollow sleeves. The sleeve spacing is adjusted by rotating the knob. The scale displays the diameter with an accuracy of 0.5 cm. After adjusting to the target diameter, tighten the bottom locking screw to fix the sleeve position.
10. A dual-mode coaxial drive medical-grade cervical traction and hand precise rehabilitation training device according to claim 1, characterized in that, The device meets the ISO 20957-2:2017 standard, and the shaking test method is to collect data at a speed of 10 cm / s through a laser vibrometer; the magnetic powder brake has built-in heat dissipation fins and the shell is made of aluminum alloy.