CN105726278B - A kind of multiple degrees of freedom cervical vertebra intelligent massaging robot - Google Patents
A kind of multiple degrees of freedom cervical vertebra intelligent massaging robot Download PDFInfo
- Publication number
- CN105726278B CN105726278B CN201610259150.3A CN201610259150A CN105726278B CN 105726278 B CN105726278 B CN 105726278B CN 201610259150 A CN201610259150 A CN 201610259150A CN 105726278 B CN105726278 B CN 105726278B
- Authority
- CN
- China
- Prior art keywords
- heating roller
- universal joint
- base
- cervical vertebra
- control module
- 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.)
- Expired - Fee Related
Links
- 238000010438 heat treatment Methods 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000008602 contraction Effects 0.000 claims description 10
- 230000006698 induction Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 4
- 201000005671 spondyloarthropathy Diseases 0.000 description 9
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 8
- 201000010099 disease Diseases 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000001225 therapeutic effect Effects 0.000 description 5
- 230000001684 chronic effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 3
- 230000002089 crippling effect Effects 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
- 210000005036 nerve Anatomy 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 208000005801 spondylosis Diseases 0.000 description 2
- 208000011580 syndromic disease Diseases 0.000 description 2
- 210000002385 vertebral artery Anatomy 0.000 description 2
- 206010008334 Cervicobrachial syndrome Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010019233 Headaches Diseases 0.000 description 1
- 208000003618 Intervertebral Disc Displacement Diseases 0.000 description 1
- 206010061246 Intervertebral disc degeneration 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
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 206010037714 Quadriplegia 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
- 208000036319 cervical spondylosis Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000035850 clinical syndrome Diseases 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 231100000869 headache Toxicity 0.000 description 1
- 206010020718 hyperplasia Diseases 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
- 238000000465 moulding Methods 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 231100000862 numbness Toxicity 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 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
- 108010048734 sclerotin Proteins 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 210000000273 spinal nerve root Anatomy 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
- 210000002700 urine 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)
- Heart & Thoracic Surgery (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Vascular Medicine (AREA)
- Cardiology (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 a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot, including base, control board is provided with the base, heating roller is provided with above base, and heating roller can be rotated around its axis, two groups of rotary support mechanisms are provided between heating roller and base, two groups of rotary support mechanisms are symmetricly set on the both sides of heating roller, and rotary support mechanism one end is connected with heating roller, the other end is connected with pressure sensor, pressure sensor is arranged on base and is connected with control board, base exterior is provided with manual operation controller, and manual operation controller is connected with control board.The robot it is simple in construction; small volume, is easy to carry, can intelligent adaptive Different Individual, using human bady gravitational, comply with the multiple degrees of freedom cervical vertebra intelligent massaging of cervical vertebra natural curvature; the cervical vertebra safety of people is protected, while can be adjusted to stretching dynamics, time isotype.
Description
Technical field
The present invention relates to a kind of Medical Devices, more particularly, to a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot.
Background technology
Cervical spondylopathy is also known as cervical spine syndrome, is osteoarthritis of cervical spine, proliferative cervical spondylosis, cervical syndrome, cervical vertebra
The general name of Spondylosis disease, is a kind of illness that basis is changed into degeneration pathology, is strained for a long time mainly due to cervical vertebra, sclerotin
Hyperplasia, or Disc herniation, ligament are thickened, and cause cervical vertebra spinal cord, nerve root or vertebral artery to be pressurized, and a series of dysfunctions occur
Clinical syndrome.Show as intervertebral disc degradation in itself and its Secondary cases a series of pathological changes, such as vertebra section unstability, pine
It is dynamic；Nucleus pulposus or abjection；Spur is formed；Plump and secondary spinal canal stenosis of ligament etc., stimulates or has oppressed neighbouring nerve
Root, spinal cord, the tissue such as vertebral artery and neck sympathetic nerve, and cause the syndrome of various sings and symptoms.Cervical spondylopathy is
A kind of chronic strain disease, with Chronic Progressive, it is crippling the features such as, the domestic incidence of disease is up to 17.3%, and the incidence of disease also by
Year improves.Neck and shoulder ache, dizziness headache, upper limb numbness, muscular atrophy, severe patient double lower limb spasm, difficulty in walking are mainly shown as,
Even quadriplegia, stool and urine obstacle paralyses.Cervical spondylopathy was one of common ailment of middle-aged and old, frequently-occurring disease in the past, now year by year
To person between twenty and fifty's development, the white collar of particularly long-term fixed work posture.
Cervical traction is a kind of main and curative effect really method in cervical spondylopathy expectant treatment method.But exist following
Problem：
（1）Pulling equipment volume is big, expensive, it is necessary to which professional operates；
（2）The stretching of cervical vertebra vertical direction can only be realized, it is impossible to comply with the natural curvature of cervical vertebra；
（3）Stretching dynamics, the time isotype of pulling equipment are fixed, it is impossible to provided and targetedly treated for specific individual
Pattern.
The content of the invention
It is expensive, it is necessary to professional operates it is an object of the invention to overcome above-mentioned existing pulling equipment volume big,
The stretching of cervical vertebra vertical direction can only be realized, it is impossible to comply with the natural curvature of cervical vertebra, and stretching dynamics, the time of pulling equipment
Isotype is fixed, it is impossible to the problem of providing targetedly Therapeutic mode for specific individual, devises a kind of multiple degrees of freedom cervical vertebra
Intelligent massaging robot, simple in construction, the small volume of the robot, is easy to carry, being capable of intelligent adaptive Different Individual, utilization
Human bady gravitational, the multiple degrees of freedom cervical vertebra intelligent massaging for complying with cervical vertebra natural curvature, protect the cervical vertebra safety of people, while can be right
Stretching dynamics, time isotype are adjusted, and solve existing pulling equipment volume greatly, expensive, it is necessary to which professional grasps
Make, the stretching of cervical vertebra vertical direction can only be realized, it is impossible to comply with the natural curvature of cervical vertebra, and the stretching dynamics of pulling equipment,
Time isotype is fixed, it is impossible to the problem of providing targetedly Therapeutic mode for specific individual.
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
Control board is provided with base, the base, heating roller is provided with above base, and heating roller can be around
Its axis is rotated, and is provided with two groups of rotary support mechanisms between heating roller and base, two groups of rotary support mechanisms are symmetrical arranged
Heating roller both sides, and rotary support mechanism one end with generate heat roller be connected, the other end is connected with pressure sensor, pressure
Sensor is arranged on base and is connected with control board, and base exterior is provided with manual operation controller, and manually
Operational control device is connected with control board.Cervical spondylopathy is a kind of chronic strain disease, with the spy such as Chronic Progressive, crippling
Point, the domestic incidence of disease is high.Cervical spondylopathy was one of common ailment of middle-aged and old, frequently-occurring disease in the past, was now developed year by year to person between twenty and fifty, especially
It is the white collar of long-term fixed work posture.Therefore white collar, which needs to remove to massage electricity, carries out massage and carrys out pain of alleviation,
But massage point shop massage manipulation is not necessarily authentic, thus using cervical traction be it is main in cervical spondylopathy expectant treatment method and
A kind of method of curative effect really, but there is pulling equipment volume greatly in this method, it is expensive, it is necessary to which 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 moulds such as stretching dynamics, the time of pulling equipment
Formula is fixed, it is impossible to is provided targetedly these problems of Therapeutic mode for specific individual, is had a strong impact on the use of people, sometimes very
Side effect can be extremely produced, increases the extent of cervical spondylopathy, and the technical program then being capable of intelligent adaptive Different Individual, utilization
Human bady gravitational, the multiple degrees of freedom cervical vertebra intelligent massaging for complying with cervical vertebra natural curvature, protect the cervical vertebra safety of people, while can be right
Stretching dynamics, time isotype are adjusted, and are met people's treatment cervical spondylopathy and are used.
Further, rotary support mechanism includes expansion link, the first universal joint, the second universal joint and bearing, stretches
Bar 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 be rotated around the first universal joint and the second universal joint, and pressure sensor is connected with the first universal joint, and bearing is installed
On the end face of heating roller, the second universal joint is connected with bearing；Stretching in every group of rotary support mechanism in rotary support mechanism
The one end of contracting bar away from the first universal joint is connected with same second universal joint simultaneously.Expansion link is stretched in its axis direction
The structure of contracting, universal joint is existing structure, passes through combinations thereof so that roller can carry out turning for all directions free degree
It is dynamic, coordinated with the curve of neck, so as to massage neck.
Further, heating roller control module, intelligent control module, wifi connection moulds are provided with control board
Block and two extension and contraction control modules, heating roller control module, wifi link blocks and two extension and contraction control modules with
Intelligent control module is connected, and every group of extension and contraction control module is connected with one of which rotary support mechanism respectively, manually operated control
Device is connected with intelligent control module, and heating roller control module is connected with heating roller；Base exterior is provided with heart rate sensing mould
Block, and heart rate induction module is connected with intelligent control module.Above-mentioned control module is existing structure, and being all can be commercially straight
The part being commercially available is connect, massage force feeds back to comprehensive intelligent control module by pressure sensor, then by comprehensive intelligent control
Molding block is massage force and massaging way control in rational scope；Can also be soft by the supporting client of mobile terminal
Part, to list the massage force and massage mode of several recommendations using object, by using object unrestricted choice.
In summary, the beneficial effects of the invention are as follows：Simple in construction, the small volume of the robot, is easy to carry, Neng Gouzhi
Can adaptive Different Individual, using human bady gravitational, comply with the multiple degrees of freedom cervical vertebra intelligent massaging of cervical vertebra natural curvature, protect people
Cervical vertebra safety, while can be adjusted to stretching dynamics, time isotype, it is big to solve existing pulling equipment volume, valency
Lattice are expensive, it is necessary to professional operates, and can only realize the stretching of cervical vertebra vertical direction, it is impossible to comply with the natural curvature of cervical vertebra, and
And stretching dynamics, the time isotype of pulling equipment are fixed, it is impossible to provide asking for targetedly Therapeutic mode for specific individual
Topic.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Mark and corresponding parts title in accompanying drawing：1-base；2-data wire；3-control board；4-manually
Operational control device；5-heart rate induction module；6-pressure sensor；7-the first universal joint；8-expansion link；9-the second is universal
Section；10-bearing；11-heating roller.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is only limitted to this.
Embodiment：
As shown in figure 1, a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot, including base 1, it is provided with the base 1
Control board 3, heating roller 11 is provided with the top of base 1, and heating roller 11 can be rotated around its axis, be generated heat
Two groups of rotary support mechanisms are provided between roller 11 and base 1, two groups of rotary support mechanisms are symmetricly set on heating roller 11
Both sides, and rotary support mechanism one end with heating roller 11 be connected, the other end is connected with pressure sensor 6, pressure sensor 6
It is connected on base 1 and with control board 3, manual operation controller 4, and behaviour manually is provided with outside base 1
Make controller 4 to be connected with control board 3；Rotary support mechanism includes expansion link 8, the first universal joint 7, the 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 simultaneously universal with first
The universal joint 9 of section 7 and second is connected, and expansion link 8 can be rotated around the first universal joint 7 and the second universal joint 9, pressure sensor 6
It is connected with the first universal joint 7, bearing 10 is arranged on the end face of heating roller 11, and the second universal joint 9 is connected with bearing 10；Rotation
The one end of expansion link 8 away from the first universal joint 7 in supporting mechanism in every group of rotary support mechanism is simultaneously with the same 20000th
Connected to section 9；Heating roller control module, intelligent control module, wifi link blocks and two are provided with control board 3
Individual extension and contraction control module, heating roller control module, wifi link blocks and two extension and contraction control modules are and intelligent control
Module is connected, and every group of extension and contraction control module is connected with one of which rotary support mechanism respectively, manual operation controller 4 and intelligence
Control module is connected, and heating roller control module is connected with heating roller 11；Heart rate induction module 5 is provided with outside base 1, and
Heart rate induction module 5 is connected with intelligent control module.In Fig. 1, A represents heating roller control module, and B and C represent flexible
Control module, simply each extension and contraction control module is corresponding is connected with one of which rotary support mechanism, and D represents intelligent control mould
Block, E represents the energy supply that battery is provided with wifi link blocks, base 1 for whole robot.In the present embodiment,
The rotary support mechanism at the two ends of roller 11 that generate heat is made up of three expansion links 8 respectively, every expansion link 8 is corresponding one the 10000th
To section 7, three expansion links 8 are connected with second universal joint 9 simultaneously, and the final universal joint is connected with bearing 10 again, by making
Leaned against on the chair back or lain low with object sitting posture, the present apparatus is placed on below neck；After equipment starts, electric expansion bar is automatic
Elongation, the promotion heatable rotating cylinder massage of six degree of freedom is using the cervical vertebra of object, and every expansion link 8 can be around
First universal joint 7 and the second universal joint 9 are rotated, with reference to bearing 10 effect so as to realize heating roller 11 carry out above and below, left and right,
Front and rear movement, the massage of six degree of freedom is carried out to cervical vertebra, and massage force feeds back to comprehensive intelligent control mould by pressure sensor
Block, then controls massage force and massaging way in rational scope by comprehensive intelligent control module；Can also be by moving
The supporting client software of terminal, to list the massage force and massage mode of several recommendations using object, by using object certainly
, can also be manually operated by professional by selecting, to provide targetedly massaging cervical vertebra using object.
Roller possesses heating function so that during massage to acupoint stimulation more in place, and people can also be manual by control
Operational control device 4 is controlled to whole massage processes and dynamics, is more facilitated, heart rate induction module 5 is attached to when using
The cardiac position of user, sensing heartbeat change, so as to realize the regulation and control to dynamics and frequency, reaches optimal massage degree,
Simple in construction, the small volume of robot, is easy to carry, can intelligent adaptive Different Individual, using human bady gravitational, comply with neck
The multiple degrees of freedom cervical vertebra intelligent massaging of vertebra natural curvature, protects the cervical vertebra safety of people, while can be to stretching dynamics, time etc.
Pattern is adjusted, and solves existing pulling equipment volume greatly, expensive, it is necessary to which professional's operation, can only realize cervical vertebra
The stretching of vertical direction, it is impossible to comply with the natural curvature of cervical vertebra, and stretching dynamics, the time isotype of pulling equipment are fixed,
The problem of targetedly Therapeutic mode can not being provided for specific individual.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to
According to the present invention technology, method substantially above example is made any simple modification, equivalent variations, each fall within the present invention
Protection domain within.
Claims (3)
1. a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot, it is characterised in that：Including base（1）, the base（1）It is middle to set
There is control board（3）, in base（1）Top be provided with heating roller（11）, and heating roller（11）Can be around its axle
Line is rotated, and generate heat roller（11）And base（1）Between be provided with two groups of rotary support mechanisms, two groups of rotary support mechanisms are symmetrically set
Put in heating roller（11）Both sides, and rotary support mechanism one end with heating roller（11）Connection, the other end is connected with pressure
Sensor（6）, pressure sensor（6）Installed in base（1）Upper and and control board（3）Connection, in base（1）Outside is set
It is equipped with manual operation controller（4）, and manual operation controller（4）With control board（3）Connection；The rotary support mechanism
Include expansion link（8）, the first universal joint（7）, the second universal joint（9）And bearing（10）, expansion link（8）It is arranged on the 10000th
Xiang Jie（7）With the second universal joint（9）Between, and expansion link（8）Simultaneously with the first universal joint（7）With the second universal joint（9）Connection,
Expansion link（8）Can be around the first universal joint（7）With the second universal joint（9）Rotate, pressure sensor（6）With the first universal joint
（7）Connection, bearing（10）Installed in heating roller（11）End face on, the second universal joint（9）With bearing（10）Connection；The control
Circuit board processed（3）On be provided with heating roller control module, intelligent control module, wifi link blocks and two extension and contraction controls
Module, heating roller control module, wifi link blocks and two extension and contraction control modules are 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）With intelligent control module
Connection, heating roller control module and heating roller（11）Connection.
2. a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot according to claim 1, it is characterised in that：The rotation branch
Expansion link in support mechanism in every group of rotary support mechanism（8）Away from the first universal joint（7）One end simultaneously with same second
Universal joint（9）Connection.
3. a kind of multiple degrees of freedom cervical vertebra intelligent massaging robot according to claim 1, it is characterised in that：The base
（1）Outside is provided with heart rate induction module（5）, and heart rate induction module（5）It 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 CN105726278A (en) | 2016-07-06 |
| CN105726278B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208573862U (en) * | 2017-09-30 | 2019-03-05 | 四川大学华西医院 | A kind of artificial intelligence cervical intervertebral disk of recordable pressure and movement |
| 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 |
Family Cites Families (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 |
| KR100966084B1 (en) * | 2008-02-25 | 2010-06-28 | 한정민 | The remedy apparatus for the cervical vertebrae |
| CN104207924B (en) * | 2014-08-29 | 2016-08-24 | 华中科技大学 | A kind of cervical vertebra massager and control method thereof |
| PT3075370T (en) * | 2015-03-30 | 2019-11-11 | Gomez Cores Arturo | Self-massaging device |
| CN105411305B (en) * | 2015-11-19 | 2017-06-06 | 杭州小窝智能科技有限公司 | A kind of intelligent health-care pillow |
-
2016
- 2016-04-25 CN CN201610259150.3A patent/CN105726278B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105726278A (en) | 2016-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103519966B (en) | Portable hemiplegy rehabilitation training robot for hemiplegic upper limb | |
| CN107334572B (en) | Cervical vertebra traction device | |
| CN203841872U (en) | Lumbar vertebra and cervical vertebra comprehensive physiotherapy recovery bed | |
| CN105852874A (en) | Autonomous rehabilitation training system and method | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN104644379A (en) | Waist back recovery traction bed | |
| CN104983498A (en) | Rope type spinal side bending rehabilitation medical robot | |
| CN105726278B (en) | A kind of multiple degrees of freedom cervical vertebra intelligent massaging robot | |
| EP0911015B1 (en) | Orthopedic rehabilitation apparatus using virtual reality units | |
| CN111281777A (en) | Recovered auxiliary assembly of sports injury | |
| CN104983496A (en) | Active type intelligent orthosis for spinal disease rehabilitation therapy | |
| CN106913448B (en) | It is a kind of for restoring the robot therapeutic device of limbs health | |
| CN206896497U (en) | A kind of Neurology rehabilitation exercise device | |
| CN208160930U (en) | Ankle recovery training appliance for recovery | |
| CN203677463U (en) | Traction therapeutic instrument for cervical and lumbar vertebra | |
| CN204684100U (en) | A kind of back rehabilitating traction bed | |
| CN101292924A (en) | Three-dimensional vector vertebra recovery device | |
| CN108888916A (en) | Orthopeadic Surgery shoulder rehabilitation therapeutic device | |
| CN206120691U (en) | Electronic cervical vertebra draw gear of multi freedom | |
| CN203280686U (en) | Multifunctional exercise rehabilitation therapeutic apparatus | |
| CN109172352B (en) | Cervical vertebra rehabilitation chair | |
| CN203802621U (en) | Three-dimensional spine malformation correction therapeutic device | |
| CN201701633U (en) | Chinese medical heating application physiotherapeutic bed | |
| CN105030476A (en) | Robot used for spondylodynia rehabilitation treatment | |
| CN106264963A (en) | A kind of adjustable seat treatment table |
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 |