CN107049709A - System and its robot, application method for the adjustment of muscle ridge and rehabilitation training - Google Patents
System and its robot, application method for the adjustment of muscle ridge and rehabilitation training Download PDFInfo
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- CN107049709A CN107049709A CN201710400364.2A CN201710400364A CN107049709A CN 107049709 A CN107049709 A CN 107049709A CN 201710400364 A CN201710400364 A CN 201710400364A CN 107049709 A CN107049709 A CN 107049709A
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- backboard
- user
- robot
- cohesion device
- pedestal
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- 210000003205 Muscles Anatomy 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 210000001202 Rhombencephalon Anatomy 0.000 claims description 6
- 210000001513 Elbow Anatomy 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000002965 rope Substances 0.000 description 3
- 229920001276 Ammonium polyphosphate Polymers 0.000 description 2
- 230000002441 reversible Effects 0.000 description 2
- 230000001225 therapeutic Effects 0.000 description 2
- 208000007202 Spinal Disease Diseases 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing Effects 0.000 description 1
- 230000004301 light adaptation Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000010319 rehabilitative therapy Methods 0.000 description 1
Classifications
-
- 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
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
- A61H2201/1626—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
Abstract
The invention provides a kind of system and its robot, application method for the adjustment of muscle ridge and rehabilitation training, wherein, the robot includes：Pedestal, backboard, cohesion device and the first transmission mechanism；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；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.Its is simple in construction for the robot, the grain and whole vertebra of user can be adjusted or trained simultaneously；Active force applies scope greatly, and the process to the adjustment of user's muscle ridge and rehabilitation training can be completed in a short time, shortens treatment or cycle of training, reduces user because treatment time is long or treatment uncomfortable the brought pain of posture.
Description
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
For the adjustment of muscle ridge and rehabilitation training system and its robot, application method.
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 for human body and rehabilitation training system and its robot, user
Method, to 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 machine for the adjustment of muscle ridge and rehabilitation training
Device people, 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；
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, during first transmission mechanism is driven the backboard, the back of the body
The acceleration that plate is produced to the body first half of user is between 1 times of gravity speed and 2 times of acceleration of gravity.
According to one preferred embodiment of the present invention, during first transmission mechanism is driven the backboard, the back of the body
The angular acceleration of plate is arranged so that the backboard rotated 5-25 degree in 1 second.
According to one preferred embodiment of the present invention, the backboard allows the user before being arranged so that the backboard upset
The body first half leaned against with erectility on the backboard.
According to one preferred embodiment of the present invention, the backboard is arranged to described in drive make in the switching process of the backboard
The body lower half of user is hanging.
According to one preferred embodiment of the present invention, the robot further comprises the second transmission mechanism, second transmission
Mechanism is connected with the backboard and the cohesion device respectively, the position for adjusting the cohesion device relative to the backboard
Put, and then adjust holding position of the cohesion device to the body first half.
According to one preferred embodiment of the present invention, the pedestal, the backboard and the cohesion device are arranged to allow institute
State user and the body first half for holding the user tightly on the backboard and by the cohesion device is leaned against with stance.
According to one preferred embodiment of the present invention, the robot further comprises seat, the pedestal, the backboard and
The cohesion device is arranged to allow the user to lean against on the backboard with sitting posture and hold institute tightly by the cohesion device
State the body first half of user.
According to one preferred embodiment of the present invention, the seat is a folding seat board being connected with pedestal rotation, non-
The seat is rotatably folded into the retracted state against the pedestal under use state.
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.
According to one preferred embodiment of the present invention, robot further comprises neck backup plate, the neck backup plate and the backboard
Top side is connected, for the hindbrain when user is leaned against on the backboard against user or collare position.
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.
In order to solve the above technical problems, the present invention further provides a kind of robot for the adjustment of muscle ridge and rehabilitation training
System, the system includes the robot and control device any one of above-described embodiment, the control device and institute
Robot communication connection is stated, and controls the operation of the robot.
In order to solve the above technical problems, another aspect of the present invention also provides machine any one of a kind of above-described embodiment
The application method of people, methods described includes：
The body first half of user is placed in the holding region that cohesion device is formed with backboard；
The body first half of user and backboard are held tightly and positioned by cohesion device；
First transmission mechanism drives backboard to rotate, and is combined with the gravity of user's body lower half, reaches to user
The purpose that is adjusted of muscle ridge.
According to one preferred embodiment of the present invention, the body first half of user and backboard are held tightly and positioned by the cohesion device
The step of specifically include：Cohesion device holds the both hands armful hindbrain in user, armful collare, a both hands intersection armful upper arm, armful shoulder tightly
Elbow lateral under state, or hold tightly in the oxter of user；Now backboard is adjacent to user back, so that user
The body first half is held tightly with backboard and positioned.
Further, the embodiment of the present invention also provides a kind of system for the adjustment of muscle ridge and rehabilitation training, the system
Including robot any one of high in the clouds calculation process center and above-described embodiment, the high in the clouds calculation process center and institute
State robot and carry out data exchange with sharing, realize remote control and the high in the clouds data analysis of the robot.
Relative to prior art, the adjustment of muscle ridge and rehabilitation training system and its machine provided by the present invention for human body
The body first half of user is held tightly and positioned by people, application method, its cohesion device with upright state and backboard, then utilizes
Transmission mechanism drives backboard to be overturn relative to pedestal to the dorsal part of user.Its is simple in construction, can be while to the grain of user
And whole vertebra is adjusted or trained；User's muscle ridge is adjusted by controlling the reversal rate of transmission mechanism to can adjust
Whole and rehabilitation training active force, it is big that active force applies scope, can complete in a short time to the adjustment of user's muscle ridge and
The process of rehabilitation training, shortens treatment or cycle of training, reduces user because treatment time is long or treatment posture is not relaxed
Suitable brought pain.
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 that the present invention is adjusted for muscle ridge and the overall structure side view of the preferred embodiment of recovery exercising robot one is illustrated
Figure；
Fig. 2 is the schematic side view of the adjustment of muscle ridge and recovery exercising robot in Fig. 1 embodiments；
Fig. 3 is the adjustment of muscle ridge and a kind of side view signal of recovery exercising robot holding state of user in Fig. 1 embodiments
Figure；
Fig. 4 is the schematic top plan view of the adjustment of muscle ridge and recovery exercising robot in Fig. 1 embodiments；
Fig. 5 is that the adjustment of muscle ridge and recovery exercising robot hold the side view signal overturn under user's state tightly in Fig. 3
Figure；
Fig. 6 is the schematic side view that the seat with armchair structure robot architecture is in the state that opens and uses；
Fig. 7 is that the present invention shows for the flow of the adjustment of muscle ridge and the preferred embodiment of application method one of recovery exercising robot
It is intended to；
Fig. 8 is the present invention for the adjustment of muscle ridge and the structure composition block diagram of the preferred embodiment of rehabilitation training system one；
Fig. 9 is the composition structure schematic diagram of robot control system embodiment of the present invention；
Figure 10 is that the adjustment of muscle ridge and recovery exercising robot are held the side view of another state of user tightly and shown in Fig. 1 embodiments
It is intended to.
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 and Fig. 2, Fig. 1 is that the present invention is used for the adjustment of muscle ridge and recovery exercising robot one is preferable to carry out
The overall structure schematic elevation view of example, Fig. 2 is the schematic side view of the adjustment of muscle ridge and recovery exercising robot in Fig. 1 embodiments,
The robot includes but is not limited to following structure：Pedestal 100, backboard 200, the transmission mechanism 400 of cohesion device 300 and first.
Specifically, the effect for acting as integrally playing robot support and fixing of pedestal 100, artificial in machine
During 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. 3 and Figure 10, Fig. 3 is that the adjustment of muscle ridge and recovery exercising robot are held tightly and made in Fig. 1 embodiments
A kind of schematic side view of state of user, Figure 10 is the adjustment of muscle ridge and recovery exercising robot holding user in Fig. 1 embodiments
Another schematic side view of state；Mark 888 in figure is that arrow is expressed as the band of the first transmission mechanism 400 in user, figure
Dynamic user supports or opposes the direction of side to overturn.
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. 4, Fig. 4 is the adjustment of muscle ridge and the vertical view signal of recovery exercising robot in Fig. 1 embodiments
Figure.
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. 3.
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 8000, be adjusted with the muscle ridge for reaching to user or rehabilitation training purpose；Tool
Body is referring to Fig. 5, Fig. 5 is that the adjustment of muscle ridge and recovery exercising robot hold the side view overturn under user's state tightly in Fig. 3
Schematic diagram.
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.
Preferably, please continue to refer to Fig. 1 and Fig. 2, the robot further comprises the second transmission mechanism 500, second biography
Motivation structure 500 is connected with backboard 200 and cohesion device 300 respectively, for adjusting cohesion device 300 relative to backboard 200
Position, and then adjust holding position of the cohesion device 300 to user's body first half.Second transmission mechanism 500 specifically for
Change fixed position of the cohesion device 300 on the vertical height direction of backboard 200, to meet user's demand of different heights
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 second transmission mechanism 500 is to set multiple regulations in the side of backboard 200
Hole, 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 second transmission mechanism 500 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 second transmission mechanism 500, this area skill
Art personnel voluntarily can choose or design according to the functional requirement of the second transmission mechanism 500, and here is omitted.
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. 6, Fig. 6 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.Wherein, scheme
Arrow represents that cohesion device 300 under the regulation of the second transmission mechanism 500, can move up and down position along backboard 200 in 6.
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. 6), 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 is with cohesion device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed
Need) electrical connection, the running status for controlling the transmission mechanism of cohesion device 300 and first, second, display unit and control
Device is connected, the information such as running state parameter for showing robot；Wherein, display unit can for liquid crystal display or its
He has 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 muscle ridge and recovery exercising robot provided by the present invention for human body, it is held tightly
The body first half of user can be held tightly and positioned by device with upright state and backboard, then drive the back of the body using transmission mechanism
Plate is overturn relative to pedestal to the dorsal part of user.Its is simple in construction, and the grain and whole vertebra of user can be entered simultaneously
Row adjustment is trained；By controlling the reversal rate of transmission mechanism to can adjust to the adjustment of user's muscle ridge and rehabilitation training
The active force of journey, active force applies scope greatly, and the process to the adjustment of user's muscle ridge and rehabilitation training can be completed in a short time,
Shorten treatment or cycle of training, reduce user because treatment time is long or treatment uncomfortable the brought pain of posture.
In addition, the embodiment of the present invention also provides a kind of application method for being directed to robot in above-described embodiment, figure is referred to
7, Fig. 7 be the schematic flow sheet for the preferred embodiment of application method one that the present invention is used for the adjustment of muscle ridge and recovery exercising robot,
This method includes but is not limited to following steps.
Step S710, the body first half of user is placed in the holding region that cohesion device is formed with backboard.
Wherein, in this step, it can also include changing cohesion device and backboard by adjusting the second transmission mechanism
Fixed position, and then cohesion device is adapted to different height user and different holding locational requirements.As in previous embodiment
Description, user can use the robot using stance or sitting posture.
The body first half of user and backboard are held tightly and positioned by step S720, cohesion device.
In step S720, the cohesion device preferably form of holding tightly can be in Fig. 3：Cohesion device is held tightly in user
Both hands embrace hindbrain, embrace collare, both hands intersect embrace a upper arm, embrace shoulder state under elbow lateral；Or be embracing in Figure 10
Tightly in the oxter of user；Now backboard is adjacent to user back, is positioned so that the body first half of user is held tightly with backboard.
Certainly, the robot is not limited to above-mentioned form to the holding form of user, cohesion device can also for directly hold tightly in
The optional position of user's body first half, will not enumerate herein.
Step S730, the first transmission mechanism drives backboard to rotate, and is combined with the gravity of user's body lower half, reaches
The purpose being adjusted to the muscle ridge of user.
Wherein, drive backboard (the body first half for the person of being used in connection with is together) relative to pedestal to making in the first transmission mechanism
During the dorsal part upset of user, the body lower half of user can be driven hanging, and then utilize user's body lower half
The Action of Gravity Field in portion increases the tensile force to user's muscle ridge, and such case may have larger tensile force, but not necessarily
Suitable for all users, certainly, can for example may be used according to the situation of different users using different rollover angles or position
With 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 is during driving backboard to be rotated, and backboard is to user
The body first half produce acceleration between 1 times of gravity speed and 2 times of acceleration of gravity, such acceleration range value
Can meet the muscle coning row of user is effectively adjusted or rehabilitation training in the case of, it can also be ensured that be unlikely to 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 is driving what backboard was rotated
During, the angular acceleration of backboard is arranged so that backboard rotated 5-25 degree in 1 second, the angle rotated in 1 second more it is big then
Bigger acceleration can be produced to the body first half of user, the angular acceleration of more preferably backboard is arranged so that backboard exists
10-20 degree is rotated in 1 second.The value of robot specific angular acceleration in use can be carried out according to the situation of user
Specific setting.
Further, the embodiment of the present invention also provides a kind of system for the adjustment of muscle ridge and rehabilitation training, refers to figure
8, Fig. 8 be the present invention adjusted for muscle ridge and the preferred embodiment of rehabilitation training system one structure composition block diagram, the system can be with
Including the grade component units of robot 820 described in high in the clouds calculation process center 810 and above-described embodiment.
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 robot for the adjustment of muscle ridge and rehabilitation training, 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；
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 be driven the mistake of the backboard in first transmission mechanism
Cheng Zhong, the acceleration that the backboard is produced to the body first half of user between 1 times of gravity speed and 2 times of acceleration of gravity it
Between.
3. robot according to claim 1, it is characterised in that be driven the mistake of the backboard in first transmission mechanism
Cheng Zhong, the angular acceleration of the backboard is arranged so that the backboard rotated 5-25 degree in 1 second.
4. robot according to claim 1, it is characterised in that the backboard is permitted before being arranged so that the backboard upset
Perhaps the body first half of described user is leaned against on the backboard with erectility.
5. robot according to claim 4, it is characterised in that the backboard is arranged to the switching process in the backboard
The middle body lower half for driving the user is hanging.
6. robot according to claim 1, it is characterised in that the robot further comprises the second transmission mechanism,
Second transmission mechanism is connected with the backboard and the cohesion device respectively, for described relative to backboard regulation
The position of cohesion device, and then adjust holding position of the cohesion device to the body first half.
7. robot according to claim 4, it is characterised in that the pedestal, the backboard and the cohesion device
It is arranged to allow the user to lean against the body for holding the user tightly on the backboard and by the cohesion device with stance
The body first half.
8. robot according to claim 4, it is characterised in that the robot further comprises seat, the pedestal,
The backboard and the cohesion device are arranged to allow the user to lean against on the backboard and by described armful with sitting posture
Tight device holds the body first half of the user tightly.
9. robot according to claim 8, it is characterised in that the seat is a folding being connected with pedestal rotation
Folded seat board, the seat is rotatably folded into the retracted state against the pedestal under non-working condition.
10. robot according to claim 1, it is characterised in that the backboard is curved, the cohesion device is used for will
The body first half is held tightly in the concave side of arc backboard.
11. robot according to claim 1, it is characterised in that robot further comprises neck backup plate, the neck backup plate
It is connected with the top side of the backboard, for hindbrain or the collare position when user is leaned against on the backboard against user
Put.
12. 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.
13. robot according to claim 12, it is characterised in that the robot also includes input unit, for connecing
Receive the operational order of user's input.
14. robot according to claim 13, it is characterised in that the input unit includes operation button, or touches
Screen, or sound identification module, or gesture recognition module.
15. robot according to claim 12, 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.
16. a kind of robot system for the adjustment of muscle ridge and rehabilitation training, it is characterised in that appoint including such as claim 1-15
Robot and control device described in one, the control device are connected with the robot communication, and control the machine
The operation of people.
17. the application method of any one of a kind of claim 1-15 robot, it is characterised in that methods described includes：
The body first half of user is placed in the holding region that cohesion device is formed with backboard；
The body first half of user and backboard are held tightly and positioned by cohesion device；
First transmission mechanism drives backboard to rotate, and is combined with the gravity of user's body lower half, reaches the muscle to user
The purpose that ridge is adjusted.
18. application method according to claim 17, it is characterised in that the cohesion device is by the body upper half of user
The step of positioning is held tightly with backboard and is specifically included in portion：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 holds tightly in the oxter of user；Now backboard is adjacent to user's back of the body
Portion, is positioned so that the body first half of user is held tightly with backboard.
19. a kind of system for the adjustment of muscle ridge and rehabilitation training, it is characterised in that the system is included in the calculation process of high in the clouds
Any one of the heart and claim the 1-15 robot, the high in the clouds calculation process center carry out data friendship with the robot
Change and share, realize remote control and the high in the clouds data analysis of the robot.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115920 | 2017-03-01 | ||
| CN2017101159201 | 2017-03-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107049709A true CN107049709A (en) | 2017-08-18 |
Family
ID=59539104
Family Applications (7)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401644.5A Withdrawn CN107080670A (en) | 2017-03-01 | 2017-05-31 | System, robot and its control method for the adjustment of muscle ridge and rehabilitation training |
| CN201710400361.9A Withdrawn CN107080669A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400861.2A Withdrawn CN107028753A (en) | 2017-03-01 | 2017-05-31 | The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function |
| CN201710400349.8A Withdrawn CN107280913A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710401651.5A Withdrawn 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 Withdrawn CN107088138A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400364.2A Withdrawn CN107049709A (en) | 2017-03-01 | 2017-05-31 | System and its robot, application method for the adjustment of muscle ridge and rehabilitation training |
Family Applications Before (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401644.5A Withdrawn CN107080670A (en) | 2017-03-01 | 2017-05-31 | System, robot and its control method for the adjustment of muscle ridge and rehabilitation training |
| CN201710400361.9A Withdrawn CN107080669A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400861.2A Withdrawn CN107028753A (en) | 2017-03-01 | 2017-05-31 | The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function |
| CN201710400349.8A Withdrawn CN107280913A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710401651.5A Withdrawn 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 Withdrawn CN107088138A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
Country Status (1)
| Country | Link |
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| CN (7) | CN107080670A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109646167A (en) * | 2019-01-31 | 2019-04-19 | 顾新建 | A kind of back drawing type tractor and traction method |
| CN110507346A (en) * | 2019-08-20 | 2019-11-29 | 东软医疗系统股份有限公司 | Scanning bed and medical treatment detection device |
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| CN107485808B (en) * | 2017-10-17 | 2022-10-11 | 张兴荣 | Intelligent holographic deep well rescue system |
| CN111000670B (en) * | 2017-11-09 | 2021-12-31 | 山东中医药大学 | Physiotherapy device and method for sub-health people |
| CN108577210B (en) * | 2018-04-10 | 2019-12-31 | 李怡霏 | Posture correcting chair for senior high school students |
| CN110432683A (en) * | 2018-05-03 | 2019-11-12 | 肖野 | A kind of support system mitigating lumbar pressure |
| CN111803326A (en) * | 2020-07-01 | 2020-10-23 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | Adjustable scoliosis traction device |
| CN112034982A (en) * | 2020-08-24 | 2020-12-04 | 四川大学华西医院 | Cervical vertebra rehabilitation equipment based on virtual reality technology |
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- 2017-05-31 CN CN201710400861.2A patent/CN107028753A/en not_active Withdrawn
- 2017-05-31 CN CN201710400349.8A patent/CN107280913A/en not_active Withdrawn
- 2017-05-31 CN CN201710401651.5A patent/CN107088137A/en not_active Withdrawn
- 2017-05-31 CN CN201710401703.9A patent/CN107088138A/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107280913A (en) | 2017-10-24 |
| CN107080669A (en) | 2017-08-22 |
| CN107028753A (en) | 2017-08-11 |
| CN107080670A (en) | 2017-08-22 |
| CN107088137A (en) | 2017-08-25 |
| CN107088138A (en) | 2017-08-25 |
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Address after: 518000 Guangdong city of Shenzhen province Futian District Futian District, three Lunuode financial center building on the west side of 32B Applicant after: Dedao Health Management Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Futian District Futian District, three Lunuode financial center building on the west side of 32B Applicant before: SHENZHEN DEDAO HEALTH MANAGEMENT Co.,Ltd. |
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Effective date of registration: 20200528 Address after: 518000. C, unit 207, building A3, China Merchants science and Technology Park, 3009 Guangming Road, Guangming Road, Guangming District, Guangdong, Shenzhen Applicant after: Shenzhen Dafu Intelligent Health Technology Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Futian District Futian District, three Lunuode financial center building on the west side of 32B Applicant before: Dedao Health Management Co.,Ltd. |
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