CN107028753A - The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function - Google Patents

The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function Download PDF

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Publication number
CN107028753A
CN107028753A CN201710400861.2A CN201710400861A CN107028753A CN 107028753 A CN107028753 A CN 107028753A CN 201710400861 A CN201710400861 A CN 201710400861A CN 107028753 A CN107028753 A CN 107028753A
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CN
China
Prior art keywords
robot
backboard
user
physical therapy
transmission
Prior art date
Application number
CN201710400861.2A
Other languages
Chinese (zh)
Inventor
孙冰
Original Assignee
深圳市得道健康管理有限公司
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Filing date
Publication date
Priority to CN2017101159201 priority Critical
Priority to CN201710115920 priority
Application filed by 深圳市得道健康管理有限公司 filed Critical 深圳市得道健康管理有限公司
Publication of CN107028753A publication Critical patent/CN107028753A/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292Stretching or bending or torsioning apparatus for exercising for the spinal column
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H39/00Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/04Devices for pressing such points, e.g. Shiatsu or Acupressure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H39/00Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/06Devices for heating or cooling such points within cell-life limits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/02Characteristics of apparatus not provided for in the preceding codes heated or cooled
    • A61H2201/0207Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628Pelvis
    • A61H2201/1633Seat
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/08Trunk
    • A61H2205/081Back

Abstract

The invention provides a kind of muscle ridge adjustment with physical therapy function and rehabilitation training system and its robot, the robot includes:Pedestal, backboard, cohesion device, physical therapy device and the first transmission mechanism, wherein, backboard is arranged on the pedestal and rotated with the pedestal and is connected;Cohesion device is arranged on the backboard, the body first half for holding the user tightly when user is leaned against on the backboard;Physical therapy device is arranged on the backboard, for carrying out physiotherapy to the back of the user when user is leaned against on the backboard;First transmission mechanism is driven the backboard in the state of the body first half for holding the user tightly in the cohesion device and rotated relative to the pedestal.The robot it is simple in construction, it is vdiverse in function, the grain and whole vertebra of user can be adjusted simultaneously, trained and physiotherapy, the cycle time of the treatment to grain and whole vertebra or training can be shortened.

Description

The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function
Technical field
The present invention relates to the medical treatment of human vertebra and grain or the technical field of training device, one kind is specifically related to The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function.
Background technology
The reasons such as working method, operating pressure or contingency due to people, vertebra and grain often occur It is ailing, it is therefore desirable to the people for carried out to vertebra and grain recovery training or adjustment, even muscle ridge health, often Do the exercise or stretching of some this respects, to it is healthy be also the place that is highly profitable.
Have much for equipment such as treatment, the training of muscle ridge in the prior art, for example patent No. CN105434090A is just public A kind of multi-faceted rehabilitative therapy of spinal traction bed is opened, its structure includes upper body bed body, leg left side bed body, leg right side bed body, sky Between support body, operation bench, upper body support body front end is provided with fixed mount, coordinates body restraint fixing human upper body, bed body and leg on the left of leg Its bed board tiltable of bed body lifting on the right side of portion, bed body can be curved laterally, and bed body tail end is provided with hand stretching thick stick, and space support body is A fixed pulley is fixed at the frame that the body of rod is surrounded, top, and tailstock vertical rod, which fixes one, can adjust the fixed pulley of height, operation bench up and down It is the casing of tailstock, pull rope is stretched out at tailstock, the folding and unfolding of pull rope is controlled by the hand disk of side.
In addition, applicant has the further insight that patent No. CN104382681A discloses a kind of spinal disease prevention convalescence device, The device includes cervical traction mechanism, lumbar traction mechanism and fixing support rack.It uses lumbar vertebrae cervical vertebra is sleeping to found dual-purpose design, The lumbar vertebrae and cervical vertebra of user are drawn by the traction power of user's voluntarily controlling organization.
Above-mentioned patent all has the following disadvantages:1st, due to structure, tractive force, which applies, to be limited in scope, it is therefore desirable to make User keeps a posture to carry out traction stretching for a long time, and user can not feel like oneself, the time cycle of its rehabilitation and treatment It is long;2nd, it can only be treated or be trained adjustment to human body parts spinal structure, and can't whole muscle, it is impossible to which satisfaction makes The requirement that user is adjusted to grain, it is clear that the function of spine recovering therapeutic system is excessively single in the prior art.
The content of the invention
The embodiment of the present invention provides a kind of muscle ridge adjustment with physical therapy function and rehabilitation training system and its robot, with Solve the technical problem that treatment time is long and function is single that spine recovering therapeutic system is present in the prior art.
To solve the above problems, on the one hand the embodiment of the present invention provides a kind of muscle ridge adjustment with physical therapy function and health Multiple image training robot, it is characterised in that the robot includes:
Pedestal;
Backboard, is arranged on the pedestal and is connected with pedestal rotation;
Cohesion device, is arranged on the backboard, for holding described use tightly when user is leaned against on the backboard The body first half of person;
Physical therapy device, is arranged on the backboard, for when user is leaned against on the backboard to the user Back carry out physiotherapy;
It is driven in the state of first transmission mechanism, the body first half for holding the user tightly in the cohesion device The backboard rotates relative to the pedestal.
According to one preferred embodiment of the present invention, the robot also includes the second transmission mechanism, second transmission mechanism It is connected respectively with the backboard and the physical therapy device, second transmission mechanism is used for relatively described backboard and adjusts the reason The position of device is treated, and then adjusts physiotherapy position of the physical therapy device to user back.
According to one preferred embodiment of the present invention, the physical therapy device includes the massage mechanism being arranged on the backboard.
According to one preferred embodiment of the present invention, the massage mechanism is one or more salient point knot being arranged on backboard Structure.
According to one preferred embodiment of the present invention, the massage mechanism include being arranged on backboard one or more is electronic Bump structure.
According to one preferred embodiment of the present invention, the massage mechanism includes the electronic salient point knot of even number being arranged on backboard Structure, and electronic bump structure is symmetrically distributed in the both sides of the center line of the backboard side.
According to one preferred embodiment of the present invention, massage mechanism includes four electronic bump structures, four electronic salient points Structure is arranged in arrays, and is symmetrically distributed in the both sides of the center line of the backboard side two-by-two.
According to one preferred embodiment of the present invention, the relative position between the structure of the electronic bump structure is adjustable.
According to one preferred embodiment of the present invention, the robot further comprises the 3rd transmission mechanism, the 3rd transmission Mechanism is connected with the backboard and the cohesion device respectively, and it is described that the 3rd transmission mechanism is used for relatively described backboard regulation The position of cohesion device, and then adjust holding position of the cohesion device to the body first half.
According to one preferred embodiment of the present invention, the physical therapy device also includes the heating arrangements being arranged on the backboard With electronics moxa-moxibustion element.
According to one preferred embodiment of the present invention, the heating arrangements are heating plate, the infrared heater being arranged on backboard Or heating lamp.
According to one preferred embodiment of the present invention, the physical therapy device also includes the heating arrangements being arranged on the backboard With electronics moxa-moxibustion element.
According to one preferred embodiment of the present invention, the heating arrangements are heating plate, the infrared heater being arranged on backboard Or heating lamp.
According to one preferred embodiment of the present invention, the robot also includes controller, and the controller is filled with described hold tightly Put and first transmission mechanism electrical connection, the operation shape for controlling the cohesion device and first transmission mechanism State.
According to one preferred embodiment of the present invention, the robot also includes input unit, the behaviour for receiving user's input Instruct.
According to one preferred embodiment of the present invention, the input unit includes operation button, or touch-screen, or speech recognition mould Block, or gesture recognition module.
According to one preferred embodiment of the present invention, the robot also includes communication module, the communication module and the control Device connection processed, for being communicated to connect between robot and external equipment.
According to one preferred embodiment of the present invention, the backboard is curved, and the cohesion device is used to embrace the body first half Tightly in the concave side of arc backboard;The physical therapy device is located at the backboard concave side.
According to one preferred embodiment of the present invention, the robot further comprises seat and neck backup plate;The pedestal, institute State backboard and the cohesion device is arranged to allow the user to lean against on the backboard and held tightly by described with sitting posture Device holds the body first half of the user tightly;The neck backup plate is connected with the top side of the backboard, for being carried on the back in user Lean against hindbrain when on the backboard against user or collare position.
The embodiment of the present invention further provide for a kind of muscle ridge for person upright's posture with physical therapy function adjust and The robot system of rehabilitation training, including robot and control device any one of above-described embodiment, the control Equipment is connected with the robot communication, and controls the operation of the robot.
In order to solve the above technical problems, the embodiment of the present invention also provide it is a kind of for person upright's posture have physiotherapy work( The muscle ridge adjustment of energy and rehabilitation training system, the system include any one of high in the clouds calculation process center and above-described embodiment Described robot, the high in the clouds calculation process center carries out data exchange with sharing with the robot, realizes the machine The remote control of people and high in the clouds data analysis.
In order to solve the above technical problems, the embodiment of the present invention further provides for a kind of control method for weighing robot, it is described Method includes:
The body first half of user be placed in holding region when, control cohesion device by the body first half of user with Backboard holds positioning tightly;
The first transmission mechanism is controlled to drive backboard to be rotated relative to the pedestal to the dorsal part of the user, to combine profit With the gravity of user's body lower half, the purpose being adjusted to the muscle ridge of user is reached.
According to one preferred embodiment of the present invention, methods described also includes control physical therapy device operation, with the back of the body to user Portion carries out physiotherapy.
Further, the embodiment of the present invention provides a kind of control method of robot in above-described embodiment, methods described again Including:
When the body first half of user is rested on the backboard for setting physical therapy device side, control physical therapy device fortune OK, with to the progress physiotherapy of the back of user.
Relative to prior art, the adjustment of the muscle ridge with physical therapy function and rehabilitation training system and its machine that the present invention is provided The body first half of user can be held tightly and positioned by device people, its cohesion device with upright state and backboard, then utilize transmission Mechanism drives backboard to be overturn relative to pedestal to the dorsal part of user, and its physical therapy device can be managed the back of user Treat.The robot it is simple in construction, it is vdiverse in function, the grain and whole vertebra of user can be adjusted simultaneously, trained And physiotherapy, the cycle time of the treatment to grain and whole vertebra or training is shortened, when reducing user because for the treatment of Between it is long or treatment uncomfortable the brought pain of posture.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings Accompanying drawing.
Fig. 1 is the overall knot of muscle ridge adjustment and recovery exercising robot one preferred embodiment of the present invention with physical therapy function Structure schematic elevation view;
Fig. 2 is overall structure diagram of the robot with broken section in Fig. 1 embodiments;
Fig. 3 is the adjustment of muscle ridge and the side view structural representation of recovery exercising robot with physical therapy function in Fig. 1 embodiments Sketch;
Fig. 4 is that there is in Fig. 1 embodiments the muscle ridge adjustment of physical therapy function and recovery exercising robot to hold user tightly is a kind of The side view schematic construction sketch of state;
Fig. 5 is the schematic top plan view of the muscle ridge adjustment and recovery exercising robot in Fig. 1 embodiments with physical therapy function;
Fig. 6 is that there is in Fig. 4 the muscle ridge adjustment of physical therapy function and recovery exercising robot to hold tightly to carry out under user's state The schematic side view of upset;
Fig. 7 is the schematic side view that the seat with armchair structure robot architecture is in the state that opens and uses;
Fig. 8 is that muscle ridge with physical therapy function adjustment and rehabilitation training system one of the present invention for person upright's posture are excellent Select the structure composition block diagram of embodiment;
Fig. 9 is the composition structure schematic diagram of robot control system embodiment of the present invention;
Figure 10 is that there is in Fig. 1 embodiments the muscle ridge adjustment of physical therapy function and recovery exercising robot to hold user tightly is another The side view schematic construction sketch of the state of kind.
Embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.It is emphasized that following implement Example is merely to illustrate the present invention, but the scope of the present invention is not defined.Likewise, following examples are only the portion of the present invention Point embodiment and not all embodiments, the institute that those of ordinary skill in the art are obtained under the premise of creative work is not made There are other embodiments, belong to the scope of protection of the invention.
Also referring to Fig. 1 to Fig. 3, Fig. 1 is muscle ridge adjustment and recovery exercising robot of the present invention with physical therapy function The overall structure schematic elevation view of one preferred embodiment, Fig. 2 is overall structure of the robot with broken section in Fig. 1 embodiments Schematic diagram, and Fig. 3 are that the side view structure of the muscle ridge adjustment and recovery exercising robot in Fig. 1 embodiments with physical therapy function is shown Meaning sketch, the robot includes but is not limited to following structure:Pedestal 100, backboard 200, the driver of cohesion device 300 and first Structure 400 and physical therapy device 500.
Specifically, the effect for acting as integrally playing robot support and fixing of pedestal 100, makes robot exist In the course of work, it will not move or wave, it is therefore an objective to keep robot overall structure to be in stable state.
Pedestal 100 is the platy structure of L-type in the diagram of the present embodiment, certainly, in other embodiments, pedestal 100 Structure can also be the structure such as triangle or the font of falling T fixed mount, or even can also pedestal 100 bottom set match somebody with somebody Weight, to press steady pedestal 100;Again or can also be set on pedestal 100 fixing hole or other be fixedly mounted structures, by base Seat 100 is fixedly connected with the position such as bottom surface or workbench, further enhances the stability of pedestal 100, specific on pedestal 100 Architectural feature, in the range of the understanding of those skilled in the art, will not enumerate herein.
Backboard 200 is arranged on pedestal 100, and is connected with the rotation of pedestal 100, is specifically as follows by bearing pin (in figure not Sign) or other modes be rotatably connected, the first transmission mechanism 400 coordinates rotation to be connected located at backboard 200 and pedestal 100 At position.
Preferably, first transmission mechanism 400 can be torque motor or torquer etc., for driving the phase of backboard 200 Rotated for pedestal 100 at rotation link position.For example, backboard 200 (is not indicated) with pedestal 100 by bearing pin in figure Connection, middle part and the backboard 200 of bearing pin are to be fixedly connected, and two ends are then hinged with pedestal 100, and the first transmission mechanism 400 is power Torque motor, torque motor drives bearing pin to rotate, and then realizes drive backboard 200 relative to pedestal 100 at rotation link position The purpose rotated.
Cohesion device 300 is arranged on backboard 200, for when user is leaned against on backboard 200, holding user's tightly The body first half.Also referring to Fig. 4 and Figure 10, Fig. 4 is the adjustment of muscle ridge and the rehabilitation instruction in Fig. 1 embodiments with physical therapy function Practice the side view schematic construction sketch that robot holds a kind of state of user tightly, Figure 10 is that have physical therapy function in Fig. 1 embodiments Muscle ridge is adjusted and recovery exercising robot holds the side view schematic construction sketch of another state of user tightly;Mark 888 in figure For user, arrow is expressed as the first transmission mechanism 400 and drives user to support or oppose the direction of side to overturn in figure.
Preferably, backboard 200 can be designed to arcuate structure, and cohesion device 300 is used to hold the body first half in arc tightly The concave side of shape backboard, the backboard 200 of this structure can lean against backboard due to the arcuate structure of adaptation human body back in user When 200, increase comfort level.Referring to Fig. 5, Fig. 5 is the adjustment of muscle ridge and the rehabilitation trainer in Fig. 1 embodiments with physical therapy function The schematic top plan view of device people.
Further, please continue to refer to Fig. 1 and Fig. 2, neck can also be set to lean on the robot backboard 200 in the present embodiment Plate 210, the neck backup plate 210 is connected with the top side telescopic slide of backboard;And then it is adjusted with respect to the setting of backboard 200 in height Position, for when user is leaned against on backboard 200, against the hindbrain or collare of user, plays protection user's head Portion and the effect of neck.
Need exist for the muscle ridge adjustment in explanation, the present embodiment and the body of the recovery exercising robot person of being suitable for use with The body first half is under erectility stretches adjustment to the muscle coning row of user.In other words it is that user may be at standing Or the robot is used under sitting state, it is required for the body first half of user to lean against in backboard 200 during using robot On.The situation that user is in standing state is simply illustrated in Fig. 4.
Wherein, the structure of cohesion device 300 can be the structure such as flexible arm or holding rope band, and on cohesion device 300 specific constructive form, no longer enumerates detailed description herein, and the effect of cohesion device 300 in a word is exactly by the body of user 888 The first half holds positioning (being fixed together) tightly with backboard 200, holds tightly and uses in cohesion device 300 so as to the first transmission mechanism 400 In the state of the body first half of person 888, backboard 200 (the body first half of the person of being used in connection with 888 is together) is driven relative to base Seat 100 is overturn to the dorsal part of user 888, be adjusted with the muscle ridge for reaching to user or rehabilitation training purpose;Tool Body is referring to Fig. 6, Fig. 6 is that there is in Fig. 4 the muscle ridge adjustment of physical therapy function and recovery exercising robot to hold tightly under user's state The schematic side view overturn.
Preferably, backboard 200 (the body first half of the person of being used in connection with 888 is together) phase is driven in the first transmission mechanism 400 During being overturn for pedestal 100 to the dorsal part of user 888, the body lower half of user 888 can be driven hanging, entered And the Action of Gravity Field of utilization user 888 body lower half increases the tensile force to user's muscle ridge, such case may have There is larger tensile force, but be not necessarily suitable all users, certainly, can be using difference according to the situation of different users Turn on one's side angle or position, for example can be using sitting posture using robot or without the service condition such as body lower half is hanging.
In the present embodiment preferably, the first transmission mechanism 400 is during driving backboard 200 to be rotated, backboard pair The acceleration that the body first half of user is produced is between 1 times of gravity speed and 2 times of acceleration of gravity, such acceleration Value range can be in the case where meeting muscle coning the row effectively adjustment or rehabilitation training to user, it can also be ensured that unlikely In because acceleration is excessive and muscle ridge is damaged.
It is further preferred that in order to reach optimal drawing effect, the first transmission mechanism 400 is carried out in drive backboard 200 During rotation, the angular acceleration of backboard 200 is arranged so that backboard 200 rotated 5-25 degree in 1 second, is rotated in 1 second Angle more big the angular acceleration of bigger acceleration, more preferably backboard 200 can be then produced to the body first half of user It is arranged so that backboard 200 rotated 10-20 degree in 1 second.Robot is specific during being stretched using robot The value of angular acceleration can specifically be set according to the situation of user.
Please continue to refer to Fig. 2 and Fig. 5, physical therapy device 500 is arranged on backboard 200, specially located at the concave side of backboard 200, For carrying out physiotherapy to the back of user when user is leaned against on backboard 200.Wherein, physical therapy device 500 can include Massage mechanism, heating arrangements (not indicated in figure) for being arranged on backboard 200 etc..
Specifically, the massage mechanism can be one or more bump structure.Bump structure can be static fixation Structure type on backboard 200, or electronic bump structure, and in the present embodiment it is just electronic bump structure.And be somebody's turn to do Heating arrangements can be the structures such as the heating plate being embedded on backboard, infrared heater or heating lamp, play and user is carried on the back The purpose of portion acupuncture point heating.In addition, the physical therapy device 500 can also include the machines such as the electronics moxa-moxibustion element being arranged on backboard Structure, by setting said elements to be heated while massaging user for the acupuncture point to user back Or the physiotherapy process such as moxa-moxibustion, certainly, heating arrangements and moxa-moxibustion element can also be set directly in bump structure.
Preferably, massage mechanism includes the electronic bump structure of even number in the present embodiment, and electronic bump structure is symmetrical It is distributed in the both sides of the center line of the side of backboard 200.Further, the massage mechanism of the present embodiment robot preferably includes four Electronic bump structure, four electronic bump structures are arranged in arrays, and are symmetrically distributed in the center of the side of backboard 200 two-by-two The both sides of line.The structure type of electric massage tiger can be thought.In addition, in other embodiments, multiple electronic bump structures it Between relative position may be arranged as it is adjustable, you can individually to change the position of electronic bump structure, this part-structure feature No longer it is described in detail herein.
Wherein, this refers to that backboard 200 sets the plane of physical therapy device 500 sideways.The setting form of this kind of physical therapy device 500 Purpose be to make physical therapy device 500 corresponding with the cervical vertebra position at user back, for " the sufficient sun wing to cervical vertebra both sides Guang warp " carries out physiotherapy.Certainly, in other embodiments, physical therapy device 500 can be arranged on the diverse location of backboard 200, with right The other positions at user back carry out physiotherapy.
The efforts process of the robot is as follows:Be first user the body first half be placed in holding region, then Control cohesion device to hold the body first half of user and backboard tightly to position, after positioning is held tightly, control the first transmission mechanism band Dynamic backboard is rotated relative to the pedestal to the dorsal part of the user, to be combined with the gravity of user's body lower half, Reach the purpose being adjusted to the muscle ridge of user.Wherein, cohesion device holds the body first half of user and backboard tightly The specific method of positioning can be for shown in Fig. 4:Cohesion device holds the both hands armful hindbrain, armful collare, both hands friendship in user tightly Fork embraces upper arm, the elbow lateral embraced under shoulder state;Or be the holding in Figure 10 in the oxter of user;Now backboard is pasted Tight user back, is positioned so that the body first half of user is held tightly with backboard.
It should be noted that the physical therapy device 500 in the embodiment of the present invention is overturn to the physiotherapy function of user with dorsal part The adjustment of muscle ridge be in fact robot two functions, therefore, the muscle ridge adjustment that physical therapy device 500 and dorsal part are overturn can be single Solely carry out two processes (need exist for supplementing, can be certain when being held user in backboard tightly using cohesion device Physiotherapy function of the physical therapy device 500 to user back is improved in degree), user can be used alone any function, Can certainly be simultaneously using two functions, i.e., two functions can be run simultaneously.
Preferably, the robot can also include the second transmission mechanism 600, second transmission mechanism 600 respectively with backboard 200 and physical therapy device 500 connect, second transmission mechanism 600 is used for the position that relative backboard 200 adjusts physical therapy device 500, Height and position in the present embodiment for regulation relative to backboard 200, and then adjust physiotherapy of the physical therapy device 500 to user back Position.Wherein, the second transmission mechanism 600 can be the structure type of linear electric motors, rack-and-pinion or sprocket wheel chain, in ability In the range of the understanding of field technique personnel, it will not enumerate herein.
Further, please continue to refer to Fig. 1-Fig. 3, the robot in the present embodiment also includes the 3rd transmission mechanism 700, should 3rd transmission mechanism 700 is connected with backboard 200 and cohesion device 300 respectively, for adjusting cohesion device relative to backboard 200 300 position, and then adjust holding position of the cohesion device 300 to user's body first half.3rd transmission mechanism 700 is specific For changing fixed position of the cohesion device 300 on the vertical height direction of backboard 200, to meet the user of different heights Demand or when cohesion device 300 can hold the different body first half position of user tightly.
In the present embodiment, the specific structure of the 3rd transmission mechanism 700 can be that multiple adjust is set in the side of backboard 200 Knothole, is then coordinated using latch with adjustment hole, realizes the cooperation of cohesion device 300 and backboard 200 in different height position.Separately Outside, in other embodiments, the 3rd transmission mechanism 700 can also be to drive cohesion device 300 along backboard using driver element 200 structure types moved in the height direction etc., and on the other structure types of the 3rd transmission mechanism 700, this area skill Art personnel voluntarily can choose or design according to the functional requirement of the 3rd transmission mechanism 700, no longer enumerate and be described in detail herein.
Wherein, when user uses the robot with sitting posture, seat is may further include on the pedestal 100 of the robot Chair 110, also referring to Fig. 1 and Fig. 7, Fig. 7 be with armchair structure robot architecture seat be in open and use state Schematic side view;Being provided with the structure of seat 110 can make the pedestal 100, backboard 200 and cohesion device 300 be arranged to permit Perhaps user leans against the body first half for holding user 888 tightly on backboard 200 and by cohesion device 300 with sitting posture.In addition, figure Dotted arrow represents that the 3rd transmission mechanism 700 can drive cohesion device 300 to be moved in the height direction along backboard 200 in 7.
Preferably, the seat 110 in the present embodiment is a folding seat board being connected with the rotation of pedestal 100, in non-usage shape Seat 110 is rotatably folded into the retracted state (state in such as Fig. 1) against pedestal under state;Foldable opening in a state of use With pedestal 100 at an angle (state in Fig. 7), for example 90 degree, user can be sat on using the robot.Certainly, A kind of structure of seat simply is enumerated in the present embodiment, can be set in other embodiments according to the structure of pedestal 100 The different seat form of meter, it might even be possible to be the form using other absolute construction stools, the stool can not be robot A part.
In addition, the robot can also include the electronic structure part (not shown) such as controller and display unit, control Device processed and cohesion device 300, the first transmission mechanism 400 or even the second transmission mechanism 600, the 3rd transmission mechanism 700 (if the 2nd, the 3rd transmission mechanism design needs) electrical connection, the operation for controlling the transmission mechanism of cohesion device 300 and first, second State, display unit is connected with controller, the information such as running state parameter for showing robot;Wherein, display unit can Think liquid crystal display or other there is the structure type of display function.
Further, input unit can also be included in robot, the operational order for receiving user's input.Specifically Ground, input unit can be to operate button, or touch-screen, or sound identification module, or gesture recognition module etc..In addition, machine Communication module can be provided with inside people, communication module is connected with the controller, for leading between robot and external equipment Letter connection.Wherein, such as communication module can be wired or wireless form, wireless bluetooth, radio frequency, wireless etc., And wired form can pass through interface end to set an interface end for being used to connect the control devices such as computer or mobile phone It is connected with external equipment, and then is controlled by the control device being attached thereto the action of robot.
Be not difficult to find out from the above description, the robot in the embodiment of the present invention can for self structure set controller or Other control systems, can also be by wired or be wirelessly connected with external control devices, and then forms a control System, by external control devices come the action of control machine people.Referring to Fig. 9, Fig. 9 is robot control system of the present invention In the composition structure schematic diagram of one embodiment, figure mark 1000 for robot, mark 2000 is expressed as control device.Its In, control device 2000 can be mobile phone or computer etc., can realize control by the APP on mobile phone or computer, APP can To provide multiple modes of operation, include the holding of the upset amplitude of tunable integer muscle spine adjusting machine device people, speed and cohesion device The parameters such as power.
Relative to prior art, the adjustment of the muscle ridge with physical therapy function and rehabilitation training system and its machine that the present invention is provided The body first half of user can be held tightly and positioned by device people, its cohesion device with upright state and backboard, then utilize biography Motivation structure drives backboard to be overturn relative to pedestal to the dorsal part of user, and its physical therapy device can be managed the back of user Treat.The robot it is simple in construction, it is vdiverse in function, the grain and whole vertebra of user can be adjusted simultaneously, trained And physiotherapy, the cycle time of the treatment to grain and whole vertebra or training is shortened, when reducing user because for the treatment of Between it is long or treatment uncomfortable the brought pain of posture.
Further, the embodiment of the present invention also provides a kind of muscle ridge with physical therapy function for person upright's posture and adjusted Whole and rehabilitation training system, referring to Fig. 8, Fig. 8, which is the present invention, is used for the adjustment of muscle ridge and the preferred embodiment of rehabilitation training system one Structure composition block diagram, the system can include the robot described in high in the clouds calculation process center 810 and above-described embodiment 820 grade component units.
Specifically, the high in the clouds calculation process center 810 is in communication with each other and is connected and carries out data each other with robot 820 Exchange and shared, remote control and high in the clouds data analysis of the realization to robot 820.And on high in the clouds calculation process center 810 Specific structural features, in the range of the understanding of skilled person, also repeat no more herein.
The section Example of the present invention is the foregoing is only, is not thereby limited the scope of the invention, it is every to utilize Equivalent device or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations Technical field, be included within the scope of the present invention.

Claims (19)

1. a kind of adjustment of muscle ridge and recovery exercising robot with physical therapy function, it is characterised in that the robot includes:
Pedestal;
Backboard, is arranged on the pedestal and is connected with pedestal rotation;
Cohesion device, is arranged on the backboard, for holding the user's tightly when user is leaned against on the backboard The body first half;
Physical therapy device, is arranged on the backboard, for when user is leaned against on the backboard to the back of the body of the user Portion carries out physiotherapy;
It is driven in the state of first transmission mechanism, the body first half for holding the user tightly in the cohesion device described Backboard rotates relative to the pedestal.
2. robot according to claim 1, it is characterised in that the robot also includes the second transmission mechanism, described Second transmission mechanism is connected with the backboard and the physical therapy device respectively, and second transmission mechanism is used for the relatively described back of the body Plate adjusts the position of the physical therapy device, and then adjusts physiotherapy position of the physical therapy device to user back.
3. the robot according to claim any one of 1-2, it is characterised in that the physical therapy device is described including being arranged on Massage mechanism on backboard.
4. robot according to claim 3, it is characterised in that the massage mechanism be arranged on backboard one or The multiple bump structures of person.
5. robot according to claim 4, it is characterised in that the massage mechanism includes one be arranged on backboard Or multiple electronic bump structures.
6. robot according to claim 5, it is characterised in that the massage mechanism includes the even number being arranged on backboard Individual electronic bump structure, and electronic bump structure is symmetrically distributed in the both sides of the center line of the backboard side.
7. robot according to claim 6, it is characterised in that massage mechanism includes four electronic bump structures, described Four electronic bump structures are arranged in arrays, and are symmetrically distributed in the both sides of the center line of the backboard side two-by-two.
8. robot according to claim 6, it is characterised in that the relative position between the structure of the electronic bump structure Put adjustable.
9. robot according to claim 3, it is characterised in that the physical therapy device also includes being arranged on the backboard Heating arrangements and or electronics moxa-moxibustion element.
10. robot according to claim 9, it is characterised in that the heating arrangements are the heating being arranged on backboard Piece, infrared heater or heating lamp.
11. robot according to claim 1, it is characterised in that the robot also includes controller, the controller Electrically connected with the cohesion device and first transmission mechanism, for controlling the cohesion device and first transmission The running status of mechanism.
12. robot according to claim 11, it is characterised in that the robot also includes input unit, for connecing Receive the operational order of user's input.
13. robot according to claim 12, it is characterised in that the input unit includes operation button, or touches Screen, or sound identification module, or gesture recognition module.
14. robot according to claim 11, it is characterised in that the robot also includes communication module, described logical Letter module is connected with the controller, for being communicated to connect between robot and external equipment.
15. a kind of adjustment of the muscle ridge with physical therapy function and the robot system of rehabilitation training for person upright's posture, its Be characterised by, including robot and control device as described in claim any one of 1-14, the control device with it is described Robot communication is connected, and controls the operation of the robot.
16. a kind of adjustment of the muscle ridge with physical therapy function and rehabilitation training system for person upright's posture, it is characterised in that The system includes any one of high in the clouds calculation process center and claim the 1-14 robot, the high in the clouds calculation process Center carries out data exchange with sharing with the robot, realizes remote control and the high in the clouds data analysis of the robot.
17. the control method of any one of a kind of claim 1-14 robot, it is characterised in that methods described includes:
When the body first half of user is placed in holding region, cohesion device is controlled by the body first half and backboard of user Hold positioning tightly;
The first transmission mechanism is controlled to drive backboard to be rotated relative to the pedestal to the dorsal part of the user, to be combined with making The gravity of user's body lower half, reaches the purpose being adjusted to the muscle ridge of user.
18. control method according to claim 17, it is characterised in that methods described also includes control physical therapy device fortune OK, with to the progress physiotherapy of the back of user.
19. the control method of any one of a kind of claim 1-14 robot, it is characterised in that methods described includes:
When the body first half of user is rested on the backboard for setting physical therapy device side, control physical therapy device operation, with Physiotherapy is carried out to the back of user.
CN201710400861.2A 2017-03-01 2017-05-31 The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function CN107028753A (en)

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CN201710400361.9A CN107080669A (en) 2017-03-01 2017-05-31 System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training
CN201710400349.8A CN107280913A (en) 2017-03-01 2017-05-31 System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training
CN201710400364.2A CN107049709A (en) 2017-03-01 2017-05-31 System and its robot, application method for the adjustment of muscle ridge and rehabilitation training
CN201710401644.5A CN107080670A (en) 2017-03-01 2017-05-31 System, robot and its control method for the adjustment of muscle ridge and rehabilitation training
CN201710401651.5A CN107088137A (en) 2017-03-01 2017-05-31 System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training
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CN201710400349.8A CN107280913A (en) 2017-03-01 2017-05-31 System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training
CN201710400364.2A CN107049709A (en) 2017-03-01 2017-05-31 System and its robot, application method for the adjustment of muscle ridge and rehabilitation training
CN201710401644.5A CN107080670A (en) 2017-03-01 2017-05-31 System, robot and its control method for the adjustment of muscle ridge and rehabilitation training
CN201710401651.5A CN107088137A (en) 2017-03-01 2017-05-31 System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training
CN201710401703.9A CN107088138A (en) 2017-03-01 2017-05-31 System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training

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CN107080670A (en) 2017-08-22
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CN107080669A (en) 2017-08-22
CN107088138A (en) 2017-08-25
CN107088137A (en) 2017-08-25

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