CN105726278A - Intelligent cervical vertebra massage robot with multiple degrees of freedom - Google Patents
Intelligent cervical vertebra massage robot with multiple degrees of freedom Download PDFInfo
- Publication number
- CN105726278A CN105726278A CN201610259150.3A CN201610259150A CN105726278A CN 105726278 A CN105726278 A CN 105726278A CN 201610259150 A CN201610259150 A CN 201610259150A CN 105726278 A CN105726278 A CN 105726278A
- Authority
- CN
- China
- Prior art keywords
- cervical vertebra
- universal joint
- base
- heating cylinder
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010438 heat treatment Methods 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000008602 contraction Effects 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 abstract 1
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 11
- 208000036319 cervical spondylosis Diseases 0.000 description 10
- 208000005801 spondylosis Diseases 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000001225 therapeutic effect Effects 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 4
- 230000001684 chronic effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 206010025482 malaise Diseases 0.000 description 3
- 210000005036 nerve Anatomy 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000002089 crippling effect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003041 ligament Anatomy 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 210000000278 spinal cord Anatomy 0.000 description 2
- 208000011580 syndromic disease Diseases 0.000 description 2
- 210000002385 vertebral artery Anatomy 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 206010005963 Bone formation increased Diseases 0.000 description 1
- 206010008334 Cervicobrachial syndrome Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010019233 Headaches Diseases 0.000 description 1
- 206010061246 Intervertebral disc degeneration Diseases 0.000 description 1
- 206010028391 Musculoskeletal Pain Diseases 0.000 description 1
- 206010028836 Neck pain Diseases 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 208000012287 Prolapse Diseases 0.000 description 1
- 206010037714 Quadriplegia Diseases 0.000 description 1
- 208000007613 Shoulder Pain Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000035850 clinical syndrome Diseases 0.000 description 1
- 230000013872 defecation Effects 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 231100000869 headache Toxicity 0.000 description 1
- 230000010247 heart contraction Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000862 numbness Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002062 proliferating effect Effects 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 230000002889 sympathetic effect Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0001—Body part
- A61F2007/0002—Head or parts thereof
- A61F2007/0009—Throat or neck
- A61F2007/0011—Neck only
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/04—Devices for specific parts of the body neck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
- A61H2230/06—Heartbeat rate
- A61H2230/065—Heartbeat rate used as a control parameter for the apparatus
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Cardiology (AREA)
- Epidemiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Physiology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses an intelligent cervical vertebra massage robot with multiple degrees of freedom. The intelligent cervical vertebra massage robot comprises a base. A control circuit board is arranged in the base, a heating rotary drum is arranged above the base and can rotate around the axis, two groups of rotary support mechanisms are arranged between the heating rotary drum and the base and are symmetrically arranged on two sides of the heating rotary drum, one end of each rotary support mechanism is connected with the heating rotary drum, a pressure sensor is connected with the other end of each rotary support mechanism, is mounted on the base and is connected with the control circuit board, and a manual operation controller is arranged outside the base and is connected with the control circuit board. The intelligent cervical vertebra massage robot has the advantages that the intelligent cervical vertebra massage robot is simple in structure and is small and portable, intelligent cervical vertebra massage with the multiple degrees of freedom can intelligently adapt to different individuals, can be carried out by the aid of the gravity of human bodies and conforms to the natural curvatures of the cervical vertebras of the human bodies, the cervical vertebra safety can be protected for people, and stretching force and time modes and the like can be adjusted.
Description
Technical field
The present invention relates to a kind of armarium, especially relate to a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot.
Background technology
Cervical spondylosis is also known as cervical spine syndrome, it it is osteoarthritis of cervical spine, proliferative cervical spondylosis, cervical syndrome, Cervical disc extrusion general name, it it is a kind of illness changing into basis with degeneration pathology, strain for a long time mainly due to cervical vertebra, hyperosteogeny, or prolapse of intervertebral disc, ligament thickens, cause cervical vertebra spinal cord, nerve root or vertebral artery pressurized, a series of handicapped clinical syndrome occurs.Show as intervertebral disc degradation itself and insecondary a series of pathological change thereof, as vertebra saves unstability, loosen；Nucleus pulposus or deviate from；Bony spur is formed；The plump spinal canal stenosis etc. with secondary of ligament, stimulates or has oppressed the nerve root of vicinity, spinal cord, and vertebral artery and cervical region sympathetic nerve etc. are organized, and cause the syndrome of various sings and symptoms.Cervical spondylosis is that a kind of chronic strain is sick, has Chronic Progressive, the feature such as crippling, and domestic sickness rate is up to 17.3%, and sickness rate is also improving year by year.Main manifestations is neck and shoulder pain, dizziness headache, upper limb numbness, amyotrophy, severe patient double; two lower limb spasm, difficulty in walking, even quadriplegia, and paralysis occurs in defecation obstacle.Cervical spondylosis was one of common ailment of middle-aged and old, frequently-occurring disease in the past, existing year by year to person between twenty and fifty's development, the white collar class that particularly long-term regular worker postures.
Cervical traction is a kind of main in cervical spondylosis expectant treatment method and that curative effect is certain method.But there is problems in that
(1) pulling equipment volume is big, expensive, it is necessary to professional operates；
(2) stretching of cervical vertebra vertical direction can only be realized, it is impossible to comply with the natural curvature of cervical vertebra；
(3) the stretching dynamics of pulling equipment, time isotype are fixed, it is impossible to provide Therapeutic mode targetedly for concrete individuality.
Summary of the invention
nullIt is an object of the invention to overcome above-mentioned existing pulling equipment volume big，Expensive，Professional is needed to operate，The stretching of cervical vertebra vertical direction can only be realized，The natural curvature of cervical vertebra cannot be complied with，And the stretching dynamics of pulling equipment、Time isotype is fixed，The problem that cannot provide Therapeutic mode targetedly for concrete individuality，Devise a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot，The simple in construction of this robot，Volume is little，It is easy to carry，Can intelligent adaptive Different Individual、Utilize human bady gravitational、Comply with the multiple degrees of freedom cervical vertebra intelligent massaging of cervical vertebra natural curvature，The cervical vertebra safety of protection people，Simultaneously can to the dynamics of stretching、Time isotype is adjusted，Solve existing pulling equipment volume big，Expensive，Professional is needed to operate，The stretching of cervical vertebra vertical direction can only be realized，The natural curvature of cervical vertebra cannot be complied with，And the stretching dynamics of pulling equipment、Time isotype is fixed，The problem that cannot provide Therapeutic mode targetedly for concrete individuality.
The purpose of the present invention is achieved through the following technical solutions: a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot, including base, described base is provided with control circuit plate, base be provided above heating cylinder, and heating cylinder can rotate around its axis, it is provided with two groups of rotary support mechanisms between heating cylinder and base, two groups of rotary support mechanisms are symmetricly set on the both sides of heating cylinder, and rotary support mechanism one end is connected with heating cylinder, the other end is connected to pressure transducer, pressure transducer is arranged on base and is connected with control circuit plate, base exterior is provided with manual operation controller, and manual operation controller is connected with control circuit plate.Cervical spondylosis is that a kind of chronic strain is sick, has Chronic Progressive, the feature such as crippling, and domestic sickness rate is high.Cervical spondylosis was one of common ailment of middle-aged and old, frequently-occurring disease in the past, existing year by year to person between twenty and fifty's development, the white collar class that particularly long-term regular worker postures.Therefore white collar class needs to go massage electricity to carry out massage and carry out alleviating pain, but massage point shop massage manipulation is not necessarily authentic, therefore adopting cervical traction is a kind of main in cervical spondylosis expectant treatment method and that curative effect is certain method, but it is big to there is pulling equipment volume in this method, expensive, it is necessary to professional operates；The stretching of cervical vertebra vertical direction can only be realized, it is impossible to comply with the natural curvature of cervical vertebra；The stretching dynamics of pulling equipment, time isotype are fixed; these problems of Therapeutic mode targetedly cannot be provided for concrete individuality; have a strong impact on the use of people; sometimes even can have side effects; increase the extent of cervical spondylosis; the technical program then can intelligent adaptive Different Individual, utilize human bady gravitational, comply with the multiple degrees of freedom cervical vertebra intelligent massaging of cervical vertebra natural curvature; the cervical vertebra safety of protection people; stretching dynamics, time isotype can be adjusted simultaneously, meet people and treat cervical spondylosis use.
Further, rotary support mechanism all includes expansion link, the first universal joint, the second universal joint and bearing, expansion link is arranged between the first universal joint and the second universal joint, and expansion link is connected with the first universal joint and the second universal joint simultaneously, expansion link can rotate around the first universal joint and the second universal joint, pressure transducer and the first universal joint connect, and bearing is arranged on the end face of heating cylinder, and the second universal joint is connected with bearing；Rotary support mechanism is often organized expansion link in rotary support mechanism be connected with same second universal joint away from one end of the first universal joint simultaneously.Expansion link is to carry out, at its axis direction, the structure stretched, and universal joint is existing structure, by their combination so that cylinder can carry out the rotation of all directions degree of freedom, coordinates with the curve of cervical region, thus cervical region is massaged.
Further, control circuit plate is provided with heating cylinder and controls module, intelligent control module, wifi link block and two extension and contraction control modules, heating cylinder controls module, wifi link block and two extension and contraction control modules and is all connected with intelligent control module, often group extension and contraction control module is connected with one of which rotary support mechanism respectively, manual operation controller is connected with intelligent control module, and heating cylinder controls module and is connected with heating cylinder；Base exterior is provided with heart rate induction module, and heart rate induction module is connected with intelligent control module.Above-mentioned control module is existing structure, all it is able to the parts being commercially directly commercially available, massage force is fed back to comprehensive intelligent by pressure transducer and controls module, is then controlled module by comprehensive intelligent and massage force and massaging way are controlled in rational scope；Massage force and the massage mode of several recommendation by the supporting client software of mobile terminal, can also be listed for use object, by using object unrestricted choice.
In sum, the invention has the beneficial effects as follows: the simple in construction of this robot, volume is little, it is easy to carry, can intelligent adaptive Different Individual, utilize human bady gravitational, comply with the multiple degrees of freedom cervical vertebra intelligent massaging of cervical vertebra natural curvature, the cervical vertebra safety of protection people, simultaneously can to the dynamics of stretching, time isotype is adjusted, solve existing pulling equipment volume big, expensive, professional is needed to operate, the stretching of cervical vertebra vertical direction can only be realized, the natural curvature of cervical vertebra cannot be complied with, and the stretching dynamics of pulling equipment, time isotype is fixed, the problem that cannot provide Therapeutic mode targetedly for concrete individuality.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Labelling and corresponding parts title in accompanying drawing: 1 base；2 data wires；3 control circuit plates；4 manual operation controllers；5 heart rate induction modules；6 pressure transducers；7 first universal joints；8 expansion links；9 second universal joints；10 bearings；11 heating cylinders.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited only to this.
Embodiment:
As shown in Figure 1, a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot, including base 1, described base 1 is provided with control circuit plate 3, base 1 be provided above heating cylinder 11, and heating cylinder 11 can rotate around its axis, it is provided with two groups of rotary support mechanisms between heating cylinder 11 and base 1, two groups of rotary support mechanisms are symmetricly set on the both sides of heating cylinder 11, and rotary support mechanism one end is connected with heating cylinder 11, the other end is connected to pressure transducer 6, pressure transducer 6 is arranged on base 1 and is connected with control circuit plate 3, manual operation controller 4 it is provided with outside base 1, and manual operation controller 4 is connected with control circuit plate 3；Rotary support mechanism all includes expansion link the 8, first universal joint the 7, second universal joint 9 and bearing 10, expansion link 8 is arranged between the first universal joint 7 and the second universal joint 9, and expansion link 8 is connected with the first universal joint 7 and the second universal joint 9 simultaneously, expansion link 8 can rotate around the first universal joint 7 and the second universal joint 9, pressure transducer 6 is connected with the first universal joint 7, bearing 10 is arranged on the end face of heating cylinder 11, and the second universal joint 9 is connected with bearing 10；Rotary support mechanism is often organized expansion link 8 in rotary support mechanism be connected with same second universal joint 9 away from one end of the first universal joint 7 simultaneously；Control circuit plate 3 is provided with heating cylinder and controls module, intelligent control module, wifi link block and two extension and contraction control modules, heating cylinder controls module, wifi link block and two extension and contraction control modules and is all connected with intelligent control module, often group extension and contraction control module is connected with one of which rotary support mechanism respectively, manual operation controller 4 is connected with intelligent control module, and heating cylinder controls module and is connected with heating cylinder 11；Base 1 is outside is provided with heart rate induction module 5, and heart rate induction module 5 is connected with intelligent control module.In FIG, A represents heating cylinder and controls module, B and C all represents extension and contraction control module, simply each extension and contraction control module correspondence is connected with one of which rotary support mechanism, D represents intelligent control module, E represents wifi link block, is provided with the battery energy supply for whole robot in base 1.In the present embodiment, the rotary support mechanism at heating cylinder 11 two ends is made up of three expansion links 8 respectively, every corresponding first universal joint 7 of expansion link 8, three expansion links 8 are connected with second universal joint 9 simultaneously, this universal joint final is connected with bearing 10 again, by using object sitting posture lean against on the chair back or lie low, this device is placed on below cervical region；After equipment starts, electric expansion bar extends automatically, the heatable rotation roller massage that promotes of six degree of freedom uses the cervical vertebra of object, every expansion link 8 can both rotate around the first universal joint 7 and the second universal joint 9, effect in conjunction with bearing 10 carries out the movement of top to bottom, left and right, front and rear thus realizing heating cylinder 11, cervical vertebra is carried out the massage of six degree of freedom, massage force is fed back to comprehensive intelligent by pressure transducer and controls module, is then controlled module by comprehensive intelligent and massage force and massaging way are controlled in rational scope；By the supporting client software of mobile terminal, for using object to list massage force and the massage mode of several recommendation, by using object unrestricted choice, it is also possible to by professional's manual operation, massaging cervical vertebra targetedly can also be provided for use object.
nullCylinder possesses heating function，Make when massaging, acupoint stimulation to be put in place more，Whole massage processes and dynamics can also be controlled by people by control manual operation controller 4，Convenient，Heart rate induction module 5 is attached to the cardiac position of user when being and use，Sensing heart beating change，Thus realizing the regulation and control to dynamics and frequency，Reach the massage degree of the best，The simple in construction of robot，Volume is little，It is easy to carry，Can intelligent adaptive Different Individual、Utilize human bady gravitational、Comply with the multiple degrees of freedom cervical vertebra intelligent massaging of cervical vertebra natural curvature，The cervical vertebra safety of protection people，Simultaneously can to the dynamics of stretching、Time isotype is adjusted，Solve existing pulling equipment volume big，Expensive，Professional is needed to operate，The stretching of cervical vertebra vertical direction can only be realized，The natural curvature of cervical vertebra cannot be complied with，And the stretching dynamics of pulling equipment、Time isotype is fixed，The problem that cannot provide Therapeutic mode targetedly for concrete individuality.
The above; it it is only presently preferred embodiments of the present invention; not the present invention is done any pro forma restriction, every substantially above example is made according to the technology of the present invention, method any simple modification, equivalent variations, each fall within protection scope of the present invention.
Claims (5)
1. a multiple degrees of freedom cervical vertebra intelligent massaging robot, it is characterized in that: include base (1), described base (1) is provided with control circuit plate (3), base (1) be provided above heating cylinder (11), and heating cylinder (11) can rotate around its axis, it is provided with two groups of rotary support mechanisms between heating cylinder (11) and base (1), two groups of rotary support mechanisms are symmetricly set on the both sides of heating cylinder (11), and rotary support mechanism one end is connected with heating cylinder (11), the other end is connected to pressure transducer (6), pressure transducer (6) is arranged on base (1) and above and is connected with control circuit plate (3), base (1) outside is provided with manual operation controller (4), and manual operation controller (4) is connected with control circuit plate (3).
2. a kind of multiple degrees of freedom according to claim 1 cervical vertebra intelligent massaging robot, it is characterized in that: described rotary support mechanism all includes expansion link (8), first universal joint (7), second universal joint (9) and bearing (10), expansion link (8) is arranged between the first universal joint (7) and the second universal joint (9), and expansion link (8) is connected with the first universal joint (7) and the second universal joint (9) simultaneously, expansion link (8) can rotate around the first universal joint (7) and the second universal joint (9), pressure transducer (6) is connected with the first universal joint (7), bearing (10) is arranged on the end face of heating cylinder (11), second universal joint (9) is connected with bearing (10).
3. a kind of multiple degrees of freedom according to claim 2 cervical vertebra intelligent massaging robot, it is characterised in that: described rotary support mechanism is often organized expansion link (8) in rotary support mechanism and is connected with same second universal joint (9) away from one end of the first universal joint (7) simultaneously.
4. a kind of multiple degrees of freedom according to claim 1 cervical vertebra intelligent massaging robot, it is characterized in that: described control circuit plate (3) is provided with heating cylinder and controls module, intelligent control module, wifi link block and two extension and contraction control modules, heating cylinder controls module, wifi link block and two extension and contraction control modules are all connected with intelligent control module, often group extension and contraction control module is connected with one of which rotary support mechanism respectively, manual operation controller (4) is connected with intelligent control module, heating cylinder controls module and is connected with heating cylinder (11).
5. a kind of multiple degrees of freedom according to claim 4 cervical vertebra intelligent massaging robot, it is characterised in that: described base (1) is outside is provided with heart rate induction module (5), and heart rate induction module (5) is connected with intelligent control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259150.3A CN105726278B (en) | 2016-04-25 | 2016-04-25 | A kind of multiple degrees of freedom cervical vertebra intelligent massaging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259150.3A CN105726278B (en) | 2016-04-25 | 2016-04-25 | A kind of multiple degrees of freedom cervical vertebra intelligent massaging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105726278A true CN105726278A (en) | 2016-07-06 |
| CN105726278B CN105726278B (en) | 2017-10-03 |
Family
ID=56255236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610259150.3A Expired - Fee Related CN105726278B (en) | 2016-04-25 | 2016-04-25 | A kind of multiple degrees of freedom cervical vertebra intelligent massaging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105726278B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107736956A (en) * | 2017-09-30 | 2018-02-27 | 四川大学华西医院 | A kind of recordable pressure and the artificial intelligence cervical intervertebral disk of motion |
| CN114699292A (en) * | 2022-03-15 | 2022-07-05 | 河南翔宇医疗设备股份有限公司 | Automatic deep muscle massage apparatus and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6823546B1 (en) * | 2004-01-20 | 2004-11-30 | Ming-Hui Hsu | Ergonomical massaging pillow |
| KR200418131Y1 (en) * | 2006-02-07 | 2006-06-08 | 임영신 | Physical therapy machinery |
| CN102014810A (en) * | 2008-02-25 | 2011-04-13 | 韩政敏 | Cervical massaging device |
| CN104207924A (en) * | 2014-08-29 | 2014-12-17 | 华中科技大学 | Cervical vertebra massager and control method thereof |
| CN105411305A (en) * | 2015-11-19 | 2016-03-23 | 杭州小窝智能科技有限公司 | Intelligent health-care pillow |
| EP3075370A1 (en) * | 2015-03-30 | 2016-10-05 | Arturo Gomez Cores | Self-massaging device |
-
2016
- 2016-04-25 CN CN201610259150.3A patent/CN105726278B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6823546B1 (en) * | 2004-01-20 | 2004-11-30 | Ming-Hui Hsu | Ergonomical massaging pillow |
| KR200418131Y1 (en) * | 2006-02-07 | 2006-06-08 | 임영신 | Physical therapy machinery |
| CN102014810A (en) * | 2008-02-25 | 2011-04-13 | 韩政敏 | Cervical massaging device |
| CN104207924A (en) * | 2014-08-29 | 2014-12-17 | 华中科技大学 | Cervical vertebra massager and control method thereof |
| EP3075370A1 (en) * | 2015-03-30 | 2016-10-05 | Arturo Gomez Cores | Self-massaging device |
| CN105411305A (en) * | 2015-11-19 | 2016-03-23 | 杭州小窝智能科技有限公司 | Intelligent health-care pillow |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107736956A (en) * | 2017-09-30 | 2018-02-27 | 四川大学华西医院 | A kind of recordable pressure and the artificial intelligence cervical intervertebral disk of motion |
| CN107736956B (en) * | 2017-09-30 | 2023-07-21 | 四川大学华西医院 | Artificial intelligent cervical intervertebral disc capable of recording pressure and motion |
| CN114699292A (en) * | 2022-03-15 | 2022-07-05 | 河南翔宇医疗设备股份有限公司 | Automatic deep muscle massage apparatus and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105726278B (en) | 2017-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106264827B (en) | A kind of human body unfolds pulling equipment | |
| CN106074087A (en) | A kind of multi-functional Pain Management nursing device | |
| CN105903125A (en) | Portable cervical and lumbar disease ultrasonic therapeutic apparatus control parameter setting method | |
| CN204709095U (en) | Three-dimensional spinal column pelvis dynamic equilibrium adjustment for the treatment of instrument | |
| CN104983498A (en) | Rope type spinal side bending rehabilitation medical robot | |
| CN104983496A (en) | Active type intelligent orthosis for spinal disease rehabilitation therapy | |
| CN108042251A (en) | A kind of intelligence traction chair | |
| US20150257915A1 (en) | Methods and apparatuses for the external distraction in the assistance of spinal deformities | |
| CN202859493U (en) | Novel cervical and lumbar medical care bed | |
| CN201197525Y (en) | Healthy-care bed mattress used for nursing and massaging lumbar vertebra and cervical vertebra | |
| CN101292924B (en) | Three-dimensional vector vertebra recovery device | |
| CN105726278A (en) | Intelligent cervical vertebra massage robot with multiple degrees of freedom | |
| CN104983544A (en) | Wearable cervical vertebra rehabilitation medical robot | |
| KR101133190B1 (en) | Apparatus for correcting body type | |
| CN108078756B (en) | Massage bed | |
| CN206120691U (en) | Electronic cervical vertebra draw gear of multi freedom | |
| CN204542487U (en) | A kind of vertebra adjusting device | |
| CN105030476A (en) | Robot used for spondylodynia rehabilitation treatment | |
| CN106264963A (en) | A kind of adjustable seat treatment table | |
| CN205459636U (en) | Spine massage relaxs bed | |
| CN102988126A (en) | Double-side used lumbar-vertebra disease treatment plate with S-shaped section and two curvatures | |
| KR102180777B1 (en) | Pain reliever | |
| CN203841983U (en) | Rehabilitation treatment chair for lumbar vertebra and cervical vertebra diseases | |
| CN202724244U (en) | Physiotherapy massage bed | |
| KR101237513B1 (en) | device for correcting pelvis and hip-up |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190214 Address after: 621000 Sichuan Province Mianyang Fucheng District Mianzhou Road South Section 3 Annex 2 Patentee after: SICHUAN XINMEIRUI TECHNOLOGY CO.,LTD. Address before: 621000 Building 317, Innovation Center, Kechuang District, Mianyang City, Sichuan Province Patentee before: SICHUAN LETONG TECHNOLOGY Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171003 |