CN104207924A - Cervical vertebra massager and control method thereof - Google Patents
Cervical vertebra massager and control method thereof Download PDFInfo
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- CN104207924A CN104207924A CN201410436570.5A CN201410436570A CN104207924A CN 104207924 A CN104207924 A CN 104207924A CN 201410436570 A CN201410436570 A CN 201410436570A CN 104207924 A CN104207924 A CN 104207924A
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Abstract
The invention discloses a cervical vertebra massager which comprises a massaging head driving device and a fixing device, wherein the massaging head driving device comprises a massaging head, a wedge-shaped sliding block, a wedge-shaped sliding block driving motor and a massaging head device driving motor; the massaging head moves up and down to apply force to the cervical vertebra; the wedge-shaped sliding block driving motor drives the wedge-shaped sliding block to move back and forth, so that the massaging head can move up and down; the massaging head device driving motor is used for driving the massaging head device to move in the horizontal direction so as to massage different cervical vertebra joints; the fixing device comprises a head fixing band, a neck lifting block and shoulder fixing blocks which are respectively used for fixing the positions of the head, the neck and the shoulders, so that the massaging head can accurately apply force to all the cervical vertebra joints in sequence. The cervical vertebra massager contributes to deep development of the research on auxiliary treatment on cervical spondylosis, improvement on the recovery efficiency and enhancement of the recovery effect, and has the characteristics of easiness in carrying, reliability, safety, low cost and the like.
Description
Technical field
The invention belongs to rehabilitation accessory technical field, more specifically, relate to a kind of cervical vertebra massager and control method thereof.
Background technology
The disease that cervical spondylosis is high as a kind of sickness rate, hazardness is large, is extensively present in all kinds of crowds, and people's live and work has been produced and had a strong impact on.According to statistics, the prevalence of 50 years old is within 25%, 60 years old, to be 50%.Research shows in asymptomatic crowd, approximately to have to 16 years old 11 20% to occur the slight regression of intervertebral disc, within 50 years old, has the obvious intervertebral disc degeneration pathological change of 10% appearance, 60% serious degradation in the time of 70 years old.Along with modern society's rhythm of life is accelerated, working method changes, cervical spondylosis is tending towards rejuvenation more, it is reported that middle school student's cervical spondylosis sickness rate is 12.75%, and has the trend of growth.In addition, motional injury, vehicle accident etc. causes incidence wound increasingly to increase, and also becomes one of multiple reason of cervical spondylosis.Therefore, cervical spondylosis becomes a kind of modern disease accompanying with modern society, and patient, family and even society are brought to heavy financial burden, is to affect everybody to enjoy one of healthy significant obstacle.
For the treatment of cervical spondylosis, key is daily prevention and health care.By taking as early as possible suitable treatment measure, avoid more serious consequence occurs, particularly for teenager Patients with Cervical Spondylopathy, its main clinical manifestation is that pure cervical curvature is abnormal, proofreaies and correct in time abnormal cervical curvature and can reach the effect of curing completely.Cervical spondylosis has self limiting tendency, and early stage critical treatment means are extremely important, comprising lying up, physical therapy, traction, manipulation, acupuncture and exercise therapy etc., is also the basis of operative treatment simultaneously.To cervical spondylosis, effective treatment is usually traction and manipulation clinically.Traction is alleviated disc tissue to the evagination pressure of periphery by increasing intervertebral space, open large intervertebral foramina analgesia symptom, tractive loosens cervical region spasm muscle, effectively eliminate cervical spondylosis symptom, and individuation, the optimum organization of the large parameter of cervical traction three (traction angle, pull strength and pull-in time) are to obtain the key of preferably drawing curative effect.But traditional cervical traction method be difficult to be recovered or is improved cervical curvature, there is scholar by 3 cervical traction methods, stretch compressing traction after under seat, in conjunction with cervical vertebra stage casing lateral traction, to increase the strength that promotes cervical curvature recovery.In addition under axial traction effect, give the treatment capable of regulating dislocation joint of Joint Mobilization and slippage and the curvature of vertebral body are abnormal simultaneously, adjust the disorderly energy of mechanicalness of cervical vertebra.Also have research to attempt the descending bone-setting manipulation of seat cervical traction, activity all around and incidence rotatablely move, and treat front and back cervical vertebra lateral projection show that this method can effectively improve or recover cervical curvature by evaluations.
Although adopt above-mentioned treatment means to produce good effect to the rehabilitation of cervical spondylosis.But because this disease sickness rate is high, Timing is long, the features such as the rear easily recurrence for the treatment of, in addition above-mentioned treatment means wastes time and energy and is difficult to popularize, make quite a few Patients with Cervical Spondylopathy not obtain timely, suitable treatment, also do not accomplish prevention of recurrence, more do not accomplish cervical-vertebra health care.It is necessary and effective having report to show to develop family therapy on the basis of hospitalize, treatment technology and hygienic measures that Ji Shi family can oneself grasp, be mainly used in general cervical spondylosis or operation case reconvalescent, both be conducive to the treatment of patient's continuous and effective, can not increase medical personnel's burden again, reduce the financial burden of family and society.
Summary of the invention
For the defect of existing equipment, the object of the present invention is to provide a kind of convenience, safe and reliable and portable cervical vertebra massager.
The invention provides a kind of cervical vertebra massager, comprise the massage head device for neck-massaging function, wherein said massage head device comprises: for the massage head in neck-massaging function joint, the wedge block that drives massage head to move both vertically, drive the first motor of wedge block horizontal slip, the second motor and the 3rd motor that drive massage head device to move horizontally;
The second motor and the 3rd motor are used for driving massage head device to move horizontally on slide rail and move horizontally at massage head device, make massage head move in the horizontal direction joint to be massaged, the first stepping electric machine rotation moves wedge block on wedge block slide rail to massage head direction, by wedge block front end hypotenuse extruding massage head, move vertically upward, thereby joint is produced to the effect of power, then the first stepping motor reversal, wedge block is slided away from massage head, massage head vertically moves down under massage head action of reset spring, complete the process of once massaging.
The present invention controls the movement of whole massage head device horizontal direction on two slide rails with two motors, can well keep the stability of massage head device in moving horizontally; With the movement in wedge block horizontal direction, drive the movement in massage head vertical direction, can limit the vertical shift position of massage head by the position that moves horizontally of restriction wedge block, facilitate the installation of limit switch.
Further, described cervical vertebra massager also comprises the head band for fixing head, for regulating the cervical region lift block of neck location, and for the fixing shoulder fixed block of shoulder; During use, with head band fixing head position, cervical region lift block, shoulder fixed block are held respectively cervical region and shoulder position.
The present invention uses adjustable fixing device (as cervical region lift block regulates button, massage head angle adjustment knob etc.), and the fixation for treatment person's that can vary with each individual position makes massage head be consistent with the cervical vertebra line of therapist moving horizontally in direction.
Further, described cervical vertebra massager also comprises for controlling the control device of described cervical vertebra massager operation, described control device comprises single-chip microcomputer, pressure transducer, amplifying circuit, filter circuit, electric-motor drive unit, wherein: it is inner that described pressure transducer is built in described massage head, for measuring the active force of massage head to cervical vertebra, the faint differential voltage of its output, amplification and elimination common mode disturbances through pre-amplification circuit, pass through again the noise reduction of low-pass filter circuit, the voltage signal after processing is passed to single-chip microcomputer; Single-chip microcomputer, according to described voltage signal, is controlled described the first motor by electric-motor drive unit and is driven wedge block to move horizontally, thereby control moving both vertically of massage head.
The components and parts such as the single-chip microcomputer using in invention, pressure transducer, cheap; By amplifying circuit and low-pass filter circuit, the signal of telecommunication that pressure transducer can be spread out of passes to single-chip microcomputer accurately, and monolithic function is with the motion of this signal controlling miscellaneous part.
Further, described control device also includes 4 limit switches, is arranged on respectively massage head device and moves horizontally slide rail and wedge block slide rail two ends, for limiting the vertical shift position that moves horizontally position and massage head of massage head device; When massage head device moves to massage head device and moves horizontally two ends of slide rail, touch and be contained in 2 limit switches that massage head device moves horizontally slide rail two ends, cause limit switch closed, single-chip microcomputer receives closure signal, control the second motor and the 3rd motor and stop current direction rotation, and rotate round about, realize massage head device at the position limitation protection of horizontal movement direction; When wedge block moves to two ends of wedge block slide rail; touch 2 limit switches that are contained in wedge block slide rail two ends; cause limit switch closed; single-chip microcomputer receives closure signal; control the first motor and stop current direction rotation; and rotate round about, realize massage head at the position limitation protection of direction that moves both vertically.
By the installation of four limit switches, it is movable that massage head device and wedge block are controlled in limited position, stable in the time of can not only holding device work; Wedge block can also be controlled massage head by limit switch, and distance is excessive vertically upward to prevent massage head, causes therapist cervical vertebra is injured.
Further, described control device also includes SCM peripheral circuit, and described SCM peripheral circuit comprises clock circuit, power circuit and reset circuit; Clock circuit adopts crystal resonator as external oscillator source; Power circuit adopts LM117 linear voltage regulator to supply with single-chip microcomputer 2.5V and two kinds of power supplys of 3.3V; Reset circuit adopts the mode of external reset pin to carry out monolithic processor resetting, and keeps at least 12 clock cycle of monolithic processor resetting state.
In one embodiment of the present of invention, described the first motor, the second motor and the 3rd motor all adopt three-phase stepper motor.
The use of motor, can control the position of massage head accurately according to umber of pulse, reach Position Control mode more accurately.
In one embodiment of the present of invention, each 30 degree of the upper and lower anglec of rotation of described massage head is adjustable, and massage head is vertical range ability 30mm up and down, and massage head is beaten maximum, force 100N, and frequency is 0.5～2Hz.
Further, described cervical vertebra massager also includes communicator, and described cervical vertebra massager is connected with PC end by communicator, receives the massage parameter that PC end sends.
During use, therapist can be held by PC, and treatment target can be revised massage parameter according to the physical condition of self very easily very easily, as massage frequency, dynamics, number of times etc., accomplishes to vary with each individual.
The present invention also provides a kind of control method based on above-mentioned cervical vertebra massager, comprises the steps:
S11: the second motor and the 3rd step motor drive massage head device horizontal movement, and judge in massage head horizontal direction whether reach next joint position to be massaged, if so, enter step S12; If not, continue S11;
S12: move upward thereby drive the first step motor drive wedge block of wedge block horizontal slip to push forward massage head, and whether judge in massage head vertical direction and joint contact, if so, enter step S13; If not, continue S12;
S13: seesaw and massage head back-moving spring drives massage head to move up and down joint is applied to power by wedge block, reach the effect in massage joint, and whether judgement massage number of times reaches set point number,, if so, enter step S14, if not, continue S13.
S14: when initial point is got back in massage head upright position, judge a now joint whether in the end of massage head, be EP (end of program), otherwise enter step S11.
The present invention uses this control method, and whole massage process is divided into two parts, first finds cervical vertebra position, then enters massage program, and clear process is convenient to algorithm and is realized.
Accompanying drawing explanation
Fig. 1 is the external structure of cervical vertebra massager of the present invention;
Fig. 2 is internal control motor figure of the present invention;
Fig. 3 is the modular structure figure of cervical vertebra massager of the present invention;
Fig. 4 is the Position Control flow chart of cervical vertebra massager of the present invention;
Fig. 5 is the control flow chart of the power of cervical vertebra massager of the present invention;
Fig. 6 is the use figure of cervical vertebra massager of the present invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
Fig. 1 and Fig. 2 show outside and the cut-away view of cervical vertebra massager of the present invention, for convenience of explanation, only show the part relevant to the embodiment of the present invention, and details are as follows:
Cervical vertebra massager in the present invention, mainly comprise the massage head device for neck-massaging function joint, this device comprises: for the massage head 1 in neck-massaging function joint, the wedge block 11 that drives massage head to move both vertically, the first motor 10 that drives wedge block to slide, the second motor 6 and the 3rd motor 9 that drive massage head device to move horizontally, during use, the second motor 6 and the 3rd motor 9 drive massage head device to move horizontally on the first slide rail 8 and the second slide rail 12, allow massage head move in the horizontal direction joint to be massaged, the first motor 10 rotates wedge block is moved to massage head direction on wedge block slide rail, by wedge block front end hypotenuse extruding massage head, move vertically upward, thereby joint is produced to the effect of power, then the first motor 10 reversions, wedge block is slided away from massage head, massage head vertically moves down under the effect of massage head lower springs, complete the process of once massaging, thereby reach the effect of simulation masseur to cervical vertebra power.
By the second motor 6 and the synchronous massage head device that drives of the 3rd motor 9, on the first slide rail 8 and the second slide rail 12, move horizontally, to guarantee the synchronized movement of massage head device on two slide rails, avoid producing the problem of two slide rail motor point dislocation.
Described cervical vertebra massager also comprises fixed part, fixed part comprises cervical region lift block 5, head band 4 and shoulder fixed block 2, the position that head band 4 and shoulder fixed block 2 keep therapist, makes instrument massage head when treatment move horizontally direction and cervical vertebra line is consistent.During use, with head band fixing head position, cervical region lift block, shoulder fixed block are held respectively cervical region and shoulder position, thereby the moving direction of cervical vertebra line and massage head device is positioned on straight line, so that massage head can be found the position in the cervical vertebra joint that needs massage in the horizontal direction accurately.
Fig. 3 shows the architecture figure of the control device of cervical vertebra massager, as shown in the figure, described control device comprises single-chip microcomputer, pressure transducer, amplifying circuit, filter circuit, electric-motor drive unit, wherein: it is inner that described pressure transducer is built in described massage head, for measuring the active force of massage head to cervical vertebra, the faint differential voltage of its output, through pre-amplification circuit, amplifier can adopt AD620 (to have high input impedance, the feature of high cmrr and low noise and drift) amplification and elimination common mode disturbances, pass through again the decrease of noise functions of low-pass filter circuit (selecting voltage-source type low-pass filtering), voltage signal after processing is passed to single-chip microcomputer.Single-chip microcomputer, according to described voltage signal, is controlled described the first motor by electric-motor drive unit and is driven wedge block to move horizontally, thereby control moving both vertically of massage head.
Described control device also comprises 4 limit switches, and 4 limit switches are arranged on respectively massage head device and move horizontally slide rail and wedge block slide rail two ends, plays the effect of restriction massage head device level and the vertical shift position of massage head.If when massage head device arrives two ends of horizontal slide rail, can touch 2 limit switches that are contained in slide rail two ends, because massage head power is vertically upward crowded generation of hypotenuse by wedge block front end, and control thus massage head device shift position in vertical direction, wedge block is the mobile limit switch that triggers slide rail two ends on slide rail, now can cause limit switch closed, single-chip microcomputer receives closure signal, controlling the first motor quits work, realize position limitation protection, while arriving the top of vertical slide rail as massage head, single-chip microcomputer is received signal, can control wedge block rapid in moving away from massage head direction under the first motor effect, thereby make massage head under spring action, return fast action, play safeguard protection effect.
Particularly, when massage head device moves to massage head device and moves horizontally two ends of slide rail, touch and be contained in 2 limit switches that massage head device moves horizontally slide rail two ends, cause limit switch closed, single-chip microcomputer receives closure signal, control the second motor and the 3rd motor and stop current direction rotation, and rotate round about, realize massage head device at the position limitation protection of horizontal movement direction; When wedge block moves to two ends of wedge block slide rail; touch 2 limit switches that are contained in wedge block slide rail two ends; cause limit switch closed; single-chip microcomputer receives closure signal; control the first motor and stop current direction rotation; and rotate round about, realize massage head at the position limitation protection of direction that moves both vertically.
Described control device also comprises that SCM peripheral circuit comprises clock circuit, power circuit and reset circuit; Clock circuit adopts crystal resonator as external oscillator source; Power circuit adopts LM117 linear voltage regulator to supply with single-chip microcomputer 2.5V and two kinds of power supplys of 3.3V; Reset circuit adopts the mode of external reset pin to carry out monolithic processor resetting, and keeps at least 12 clock cycle of monolithic processor resetting state.
Described the first motor, the second motor and the 3rd motor all adopt three-phase stepper motor, can adopt GAL22V10 programmable logic controller (PLC) to produce pulse distributor.
Further, described cervical vertebra massager also includes communicator, and described cervical vertebra massager is connected with PC end by communicator, receives the massage parameter that PC end sends.Particularly, the single-chip microcomputer of described cervical vertebra massager adopts the serial communication of RS485 interface with communicating by letter of PC end, and single-chip microcomputer design adopts MAX1487 chip that Transistor-Transistor Logic level is converted to 485 level.
Fig. 4 and Fig. 5 show the control method of above-mentioned cervical vertebra massager jointly, and described control method comprises position-Li mixture control flow chart, and wherein Fig. 4 shows the Position Control flow chart of cervical vertebra massager of the present invention; Fig. 5 shows the control flow chart of the power of cervical vertebra massager of the present invention, and described control method is specific as follows:
After cervical vertebra massager energising, initialize in-position control flow (as shown in Figure 4);
S11: the second motor and the 3rd step motor drive massage head device horizontal movement, and judge in massage head horizontal direction whether reach next joint position to be massaged, if so, enter step S12; If not, continue S11; Until the second motor and the 3rd motor combined effect drive massage head device to move to next joint to be massaged;
S12: move upward thereby drive the first step motor drive wedge block of wedge block horizontal slip to push forward massage head, and whether judge in massage head vertical direction and joint contact, if so, enter step S13; If not, continue S12; Wherein judge in massage head vertical direction and whether can detect by the pressure transducer of judgement massage head inside the active force in massage head and cervical vertebra joint with joint contact, when the signal of telecommunication detecting shows that force value is greater than setting Fmin, enter power control flow and (massage flow process, as shown in Figure 5);
S13: seesaw and massage head back-moving spring drives massage head to move up and down joint is applied to power by wedge block, reach the effect in massage joint, and whether judgement massage number of times reaches set point number,, if so, enter step S14, if not, continue S13;
Particularly, setting and massaging frequency n when initial is 0, motor drives wedge block to travel forward to continue to order about massage head and moves upward, when the pressure signal value detecting when pressure transducer is greater than Fmax, massage frequency n is from increasing once, the reversion of wedge block drive motors, massage head vertically moves downward under the effect of back-moving spring, when pressure transducer detection detected value is less than Fmin, whether more current massage frequency n equals set point number, being less than motor drives wedge block to travel forward to order about massage head and moves upward, enter massage program next time, equate, massage head is got back to vertical initial positions,
S14: when initial point is got back in massage head upright position, judge a now joint whether in the end of massage head, be EP (end of program), otherwise enter step S11.
Further, each 30 degree of the upper and lower anglec of rotation of described massage head is adjustable, the upper and lower range ability 30mm of the vertical instrument entity of massage head, and massage head is vertical range ability 30mm up and down, and massage head is beaten maximum, force 100N, and frequency is 0.5～2Hz.
For the intelligent cervical vertebra massager that the further description embodiment of the present invention provides, now in conjunction with Fig. 6, using method is described:
While using this cervical vertebra massager, cervical vertebra massager bottom support piece is ejected, make supporting surface and horizontal level keep certain angle, therapist lies low.
With head band and shoulder fixed block, fix position, regulate cervical region lift block button to cervical region lift block to contact with person neck, massage device is connected with RS485 with PC end, and holds client software that massage parameter is set by PC, then start cervical vertebra massager, enter therapeutic process.
The cervical vertebra massager that the embodiment of the present invention provides is mainly used in rehabilitation accessory field, this cervical vertebra massager can be simulated the treatment parameter of masseur's neck-massaging function, the massage process that comprises massage reproduction massaging cervical vertebra teacher, thereby reach the process that realizes massaging cervical vertebra, have with low cost, be easily convenient for carrying, reliable and secure.In addition, this cervical vertebra massager can also intercom mutually with PC end, and the parameter during by massage is delivered to PC end, and therapist can arrange massage parameter according to own characteristic simultaneously, and realizing varies with each individual arranges the effect of massage process.This invention contributes to carrying out in a deep going way of auxiliary treatment cervical spondylosis research, improves rehabilitation efficiency and improves rehabilitation efficacy, improves the quality of life of therapist.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a cervical vertebra massager, it is characterized in that, comprise the massage head device for neck-massaging function, wherein said massage head device comprises: for the massage head in neck-massaging function joint, the wedge block that drives massage head to move both vertically, drive the first motor of wedge block horizontal slip, the second motor and the 3rd motor that drive massage head device to move horizontally;
The second motor and the 3rd motor are used for driving massage head device to move horizontally on slide rail and move horizontally at massage head device, make massage head move in the horizontal direction joint to be massaged, the first stepping electric machine rotation moves wedge block on wedge block slide rail to massage head direction, by wedge block front end hypotenuse extruding massage head, move vertically upward, thereby joint is produced to the effect of power, then the first stepping motor reversal, wedge block is slided away from massage head, massage head vertically moves down under massage head action of reset spring, complete the process of once massaging.
2. cervical vertebra massager as claimed in claim 1, is characterized in that, described cervical vertebra massager also comprises the head band for fixing head, for regulating the cervical region lift block of neck location, and for the fixing shoulder fixed block of shoulder;
During use, with head band fixing head position, cervical region lift block, shoulder fixed block are held respectively cervical region and shoulder position, thereby the moving direction of cervical vertebra line and massage head device is positioned on straight line, so that massage head can be found the position in the cervical vertebra joint that needs massage in the horizontal direction accurately.
3. cervical vertebra massager as claimed in claim 1 or 2, it is characterized in that, described cervical vertebra massager also comprises that described control device comprises single-chip microcomputer, pressure transducer, amplifying circuit, filter circuit, electric-motor drive unit for controlling the control device of described cervical vertebra massager operation, wherein:
It is inner that described pressure transducer is built in described massage head, for measuring the active force of massage head to cervical vertebra, the faint differential voltage of its output, through amplification and the elimination common mode disturbances of pre-amplification circuit, pass through again the noise reduction of low-pass filter circuit, the voltage signal after processing is passed to single-chip microcomputer; Single-chip microcomputer, according to described voltage signal, is controlled described the first motor by electric-motor drive unit and is driven wedge block to move horizontally, thereby control moving both vertically of massage head.
4. cervical vertebra massager as claimed in claim 3, it is characterized in that, described control device also includes 4 limit switches, be arranged on respectively massage head device and move horizontally slide rail and wedge block slide rail two ends, for limiting the vertical shift position that moves horizontally position and massage head of massage head device;
When massage head device moves to massage head device and moves horizontally two ends of slide rail, touch and be contained in 2 limit switches that massage head device moves horizontally slide rail two ends, cause limit switch closed, single-chip microcomputer receives closure signal, control the second motor and the 3rd motor and stop current direction rotation, and rotate round about, realize massage head device at the position limitation protection of horizontal movement direction;
When wedge block moves to two ends of wedge block slide rail; touch 2 limit switches that are contained in wedge block slide rail two ends; cause limit switch closed; single-chip microcomputer receives closure signal; control the first motor and stop current direction rotation; and rotate round about, realize massage head at the position limitation protection of direction that moves both vertically.
5. the cervical vertebra massager as described in claim 3 or 4, is characterized in that, described control device also includes SCM peripheral circuit, and described SCM peripheral circuit comprises clock circuit, power circuit and reset circuit; Wherein clock circuit adopts crystal resonator as external oscillator source; Power circuit adopts LM117 linear voltage regulator to supply with single-chip microcomputer 2.5V and two kinds of power supplys of 3.3V; Reset circuit adopts the mode of external reset pin to carry out monolithic processor resetting, and keeps at least 12 clock cycle of monolithic processor resetting state.
6. cervical vertebra massager as claimed in claim 1 or 2, is characterized in that, described the first motor, the second motor and the 3rd motor all adopt three-phase stepper motor.
7. method as claimed in claim 1 or 2, is characterized in that, each 30 degree of the upper and lower anglec of rotation of described massage head is adjustable, and massage head is vertical range ability 30mm up and down, and massage head is beaten maximum, force 100N, and frequency is 0.5～2Hz.
8. cervical vertebra massager as claimed in claim 1 or 2, is characterized in that, also includes communicator, and described cervical vertebra massager is connected with PC end by communicator, receives the massage parameter that PC end sends.
9. a control method for the cervical vertebra massager based on described in claim 1-8 any one, is characterized in that, comprises the steps:
S11: the second motor and the 3rd step motor drive massage head device horizontal movement, and judge in massage head horizontal direction whether reach next joint position to be massaged, if so, enter step S12; If not, continue S11;
S12: move upward thereby drive the first step motor drive wedge block of wedge block horizontal slip to push forward massage head, and whether judge in massage head vertical direction and joint contact, if so, enter step S13; If not, continue S12;
S13: seesaw and massage head back-moving spring drives massage head to move up and down joint is applied to power by wedge block, reach the effect in massage joint, and whether judgement massage number of times reaches set point number,, if so, enter step S14, if not, continue S13;
S14: when initial point is got back in massage head upright position, judge a now joint whether in the end of massage head, be EP (end of program), otherwise enter step S11.
10. method as claimed in claim 9, is characterized in that, each 30 degree of the upper and lower anglec of rotation of described massage head is adjustable, the upper and lower range ability 30mm of the vertical instrument entity of massage head, massage head is vertical range ability 30mm up and down, and massage head is beaten maximum, force 100N, and frequency is 0.5～2Hz.
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| CN105167988A (en) * | 2015-10-13 | 2015-12-23 | 上海师范大学 | Human body acupuncture point finger-pressing massager and massage force automatic feedback control method of massager |
| CN105726278A (en) * | 2016-04-25 | 2016-07-06 | 四川乐彤科技有限公司 | Intelligent cervical vertebra massage robot with multiple degrees of freedom |
| CN106726068A (en) * | 2017-01-11 | 2017-05-31 | 庞旭 | Domestic device for stretching lumbar vertebra |
| CN108379027A (en) * | 2018-03-29 | 2018-08-10 | 杨发明 | A kind of device for joint mobilization and loosen method |
| CN109545396A (en) * | 2018-12-20 | 2019-03-29 | 佛山市乙太医疗用品有限公司 | A kind of monitoring method of neck brace |
| CN111568753A (en) * | 2020-04-24 | 2020-08-25 | 卢松 | Comprehensive acupuncture and massage treatment device |
| CN114469496A (en) * | 2021-12-20 | 2022-05-13 | 广州市红果树美容美发设备有限公司 | A portable neck pillow that generates heat for hairdressing |
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| CN2368575Y (en) * | 1998-04-01 | 2000-03-15 | 刘孟荣 | Electric massage and back pounding machine |
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