CN107080669A - System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training - Google Patents
System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training Download PDFInfo
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- CN107080669A CN107080669A CN201710400361.9A CN201710400361A CN107080669A CN 107080669 A CN107080669 A CN 107080669A CN 201710400361 A CN201710400361 A CN 201710400361A CN 107080669 A CN107080669 A CN 107080669A
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- holding
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- backboard
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- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
-
- 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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
-
- 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, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training, wherein, the cohesion device includes holding band tightly and holds driver element tightly, the holding driver element is fixedly connected with the backboard, the band of holding tightly is used to hold the body first half of user tightly and be allowed to be close proximity to the backboard, the holding driver element brings the enclasping force changed to the body first half of user by tightening up or relaxing the holding, and then realizes to the holding of the body first half of the user with loosening.The cohesion device holds band and holding structure of driving unit tightly by setting, and can hold the body first half of user tightly with upright state and backboard and position, simple in construction, it is easy to control.
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
System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training.
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 system, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training,
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；Wherein, the cohesion device include hold tightly band and hold tightly driver element, the holding driver element with
The backboard is fixedly connected, and the band of holding tightly is used to hold the body first half of user tightly and be allowed to be close proximity to the backboard,
The holding driver element brings the enclasping force changed to the body first half of user by tightening up or relaxing the holding,
And then realize to the holding of the body first half of the user with loosening；
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, hold tightly band formed hold tightly region, under the use state of robot, backboard with
And the body upper portion of user is in the holding region.
According to one preferred embodiment of the present invention, described one end for holding band tightly is fixedly connected with backboard, the other end and described armful
Tight driver element connection.
According to one preferred embodiment of the present invention, the holding band is collectively forming holding region with the backboard, in robot
Use state under, the body upper portion of user is in the holding region.
According to one preferred embodiment of the present invention, the cohesion device also includes holding plate tightly, and the holding plate is held tightly with described
Band is fixedly connected, and the driver element of holding tightly is by tightening up or relaxing described hold tightly with realization on the holding plate and body
The enclasping force control of half portion, in the state of holding tightly, the holding plate is adjacent to user's body first half, and dress is held tightly to increase
Put the contact area with user's body first half.
According to one preferred embodiment of the present invention, the holding plate is curved, and in the state of holding tightly, the concave side of arc is with using
Person's body first half is adjacent to.
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, and it is described that second 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 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, 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.
The embodiment of the present invention further provides for a kind of robot system for the adjustment of muscle ridge and rehabilitation training, including above-mentioned
Robot and control device any one of embodiment, the control device is connected with the robot communication, and is controlled
Make the operation of the robot.
In order to solve the above technical problems, the embodiment of the present invention further provides for a kind of control method of robot, the side
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.
In order to solve the above technical problems, the embodiment of the present invention also provide a kind of muscle ridge adjustment for person upright's posture and
The system of rehabilitation training, the system includes the machine any one of high in the clouds calculation process center and above-described embodiment
People, the high in the clouds calculation process center carries out data exchange and shared with the robot, realizes the distal end control of the robot
System and high in the clouds data analysis.
Further, the embodiment of the present invention provides a kind of holding for the adjustment of muscle ridge and recovery exercising robot and filled again
Put, the cohesion device is arranged on robot backboard, for holding described use tightly when user is leaned against on the backboard
The body first half of person；Wherein, the cohesion device include hold tightly band and hold tightly driver element, the holding driver element with
The backboard is fixedly connected, and the band of holding tightly is used to hold the body first half of user tightly and be allowed to be close proximity to the backboard,
The holding driver element brings the enclasping force changed to the body first half of user by tightening up or relaxing the holding,
And then realize to the holding of the body first half with loosening.
According to one preferred embodiment of the present invention, hold tightly band formed hold tightly region, under the use state of robot, backboard with
And the body upper portion of user is in the holding region.
According to one preferred embodiment of the present invention, described one end for holding band tightly is fixedly connected with backboard, the other end and described armful
Tight driver element connection.
According to one preferred embodiment of the present invention, the holding band is collectively forming holding region with the backboard, in robot
Use state under, the body upper portion of user is in the holding region.
According to one preferred embodiment of the present invention, the cohesion device also includes holding plate tightly, and the holding plate is held tightly with described
Band is fixedly connected, and the driver element of holding tightly is by tightening up or relaxing described hold tightly with realization on the holding plate and body
The enclasping force control of half portion, in the state of holding tightly, the holding plate is adjacent to user's body first half, and dress is held tightly to increase
Put the contact area with user's body first half.
According to one preferred embodiment of the present invention, the holding plate is curved, and in the state of holding tightly, the concave side of arc is with using
Person's body first half is adjacent to.
Relative to prior art, the adjustment of muscle ridge and rehabilitation training system, robot provided by the present invention for human body and
Its cohesion device, its cohesion device holds band and holding structure of driving unit tightly by setting, can be by the body upper half of user
Portion is held tightly with upright state and backboard and positioned, then using transmission mechanism drive backboard relative to dorsal part from pedestal to user
Upset.The robot it is simple in construction, the grain and whole vertebra of user can be adjusted or trained simultaneously, shortened
To the cycle time for the treatment of or the training of grain and whole vertebra, user is reduced because treatment time 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 that the present invention is adjusted for muscle ridge and the overall structure of the preferred embodiment of recovery exercising robot one faces signal
Figure；
Fig. 2 is the side view structure schematic diagram 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
Structure diagram；
Fig. 4 is the overlooking the structure diagram of the cohesion device first embodiment of the adjustment of muscle ridge and recovery exercising robot；
Fig. 5 is the overlooking the structure diagram of the cohesion device second embodiment of the adjustment of muscle ridge and recovery exercising robot；
Fig. 6 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. 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 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.Refer in particular to
Go out, following examples are merely to illustrate the present invention, but the scope of the present invention are not defined.Likewise,
Following examples are only the section Example of the present invention and not all embodiments, and those of ordinary skill in the art are not making wound
What is obtained under the premise of the property made work is all other
Embodiment, belongs 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 adjustment of muscle ridge and the side view structural representation of recovery exercising robot in Fig. 1 embodiments
Sketch, the robot includes but is not limited to following structure：Pedestal 100, backboard 200, the transmission mechanism of cohesion device 300 and first
400。
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. 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
Mark 888 is user in the schematic side view of another state, figure, and arrow is expressed as the drive of the first transmission mechanism 400 and used
Person supports or opposes the direction of side to overturn.
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.
Also referring to Fig. 1 and Fig. 4, Fig. 4 is the cohesion device first embodiment of the adjustment of muscle ridge and recovery exercising robot
Overlooking the structure diagram；Wherein, the cohesion device 300 in the present embodiment includes holding band 310 tightly and holds driver element tightly
320。
Specifically, the holding driver element 320 can be fixedly connected by fixed plate 330 with backboard 200, described to hold tightly
It is used to hold tightly the body first half of user with 310 and is allowed to be close proximity to the backboard 200, holds driver element 320 tightly and pass through
Tighten up or relax holding band 310 to change the enclasping force to the body first half of user, and then realize the body to user
The holding of the body first half is with loosening.
Preferably, the holding driver element 320 can be motor, and holding band 310 is rolled or loosened to motor,
Realize the change of enclasping force.And it can be steel wire rope or expanded letter fiber, nylon tape etc. to hold band 310 tightly.
In the present embodiment, the one end for holding band 310 tightly is fixedly connected with backboard 200, and the other end is with holding driver element 320 tightly
Drive connection, holds band 310 tightly and is collectively forming holding region 302, under the use state of robot, user's with backboard 200
Body upper portion is in holding region 302.
It is further preferred that the cohesion device 300 in the present embodiment can also include holding plate 340 tightly, the holding plate 340
One side is fixedly connected with holding band 310 tightly, is held driver element 320 tightly and is realized by tightening up or relaxing holding band 310 to embracing
The enclasping force of tight plate 340 and the body first half is controlled.Wherein, hold plate 340 tightly and be preferred to use arcuate structure, in the state of holding tightly,
The concave side of arc is adjacent to user's body first half.Cohesion device 300 in the present embodiment is by setting embracing for arcuate structure
Tight plate 340, on the one hand can increase the contact area of cohesion device 300 and user's body first half, on the other hand can be very
The arcuate structure of people's body side surface is adapted to well, and then mitigates extruding pain of the cohesion device 300 to user, increases robot
Comfort.
Referring to Fig. 5, Fig. 5 is the plan structure of the cohesion device second embodiment of the adjustment of muscle ridge and recovery exercising robot
Schematic diagram, it is different from a upper embodiment, hold the formation of band 310 in the present embodiment tightly and hold region 302 tightly, that is, hold band 310 tightly and formed
Around the structure type for entangling backboard 200, under the use state of robot, the body first half of backboard 200 and user
Simultaneously in holding region 302.
It is further preferred that the backboard 200 in the present embodiment can be designed to arcuate structure, cohesion device 300 is used for will
The body first half is held tightly in the concave side of arc backboard, and the backboard 200 of this structure, can due to the arcuate structure of adaptation human body back
When user leans against backboard 200, to increase comfort level.
Cohesion device 300 is used to hold the body first half of user 888 and backboard 200 tightly positioning (being fixed together),
So that the first transmission mechanism 400 is in the state of the body first half that cohesion device 300 holds user 888 tightly, backboard 200 is driven
(the body first half of the person of being used in connection with 888 is together) overturns relative to pedestal 100 to the dorsal part of user 888, to reach to making
The muscle ridge of user be adjusted or rehabilitation training purpose；Specifically referring to Fig. 6, Fig. 6 is the adjustment of muscle ridge and rehabilitation instruction in Fig. 3
Practice robot and hold the schematic side view overturn under user's state tightly.
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, Fig. 4 and Fig. 5, the robot further comprises the second transmission mechanism 500, should
Second transmission mechanism 500 is connected with the fixed plate 330 of backboard 200 and cohesion device 300 respectively, for relative to backboard 200
The position of cohesion device 300 (fixed plate 330) is adjusted, and then adjusts holding of the cohesion device 300 to user's body first half
Position.Second transmission mechanism 500 is specifically for changing fixed bit of the cohesion device 300 on the vertical height direction of backboard 200
Put, with meet different heights user's demand or when cohesion device 300 can hold the different body first half of user tightly
Position.
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 with adjustment hole using the connection bump portion (not indicated in detail in figure) in fixed plate 330, realizes cohesion device
300 with backboard 200 different height position cooperation.In addition, in other embodiments, the second transmission mechanism 500 can also be
The structure type that cohesion device 300 is moved in the height direction along backboard 200 is driven using driver element, gear is for example utilized
Rack, linear electric motors etc..And on the other structure types of the second transmission mechanism 500, those skilled in the art can be according to the
The functional requirement of two transmission mechanisms 500 is voluntarily chosen or designed, and no longer enumerates and is 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.
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.
The efforts process of the robot is as follows：Be first user the body first half be placed in holding region, then
Cohesion device (specially controlling arm driver element to drive to hold tightly with contraction) is controlled by the body first half and backboard of user
Hold tightly positioning, positioning hold tightly after, control the first transmission mechanism drive backboard relative to dorsal part from the pedestal to the user
Rotate, to be combined with the gravity of user's body lower half, reach the purpose being adjusted to the muscle ridge of user.Wherein,
It can be shown in Fig. 3 to hold airbag aeration tightly and the body first half of user and backboard are held tightly to the specific method positioned：Hold tightly
Air bag holds the both hands armful hindbrain in user, armful collare, a both hands intersection armful upper arm, the elbow lateral embraced under shoulder state tightly；
Or be the holding in Figure 10 in the oxter of user；Now backboard is adjacent to user back, so that the body upper half of user
Hold tightly and position with backboard in portion.
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
Device by set hold tightly band and hold tightly structure of driving unit, can by the body first half of user with upright state with
Backboard holds positioning tightly, then drives backboard to be overturn relative to pedestal to the dorsal part of user using transmission mechanism.The robot
It is simple in construction, the grain and whole vertebra of user can be adjusted or trained simultaneously；By controlling transmission mechanism
Reversal rate be it is adjustable user's muscle ridge is adjusted and rehabilitation training active force, it is big that active force applies scope, can be
The process to the adjustment of user's muscle ridge and rehabilitation training is completed in short time, shortens treatment or cycle of training, reduces user
Because treatment time is long or treatment uncomfortable the brought pain of posture.
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 (20)
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；Wherein, the cohesion device include hold tightly band and hold tightly driver element, the holding driver element with it is described
Backboard is fixedly connected, and the band of holding tightly is used to hold the body first half of user tightly and be allowed to be close proximity to the backboard, described
Hold driver element tightly and bring the enclasping force changed to the body first half of user by tightening up or relaxing the holding, and then
Realize to the holding of the body first half of the user with loosening；
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 region is held in the holding band formation tightly, in robot
Under use state, the body upper portion of backboard and user are in the holding region.
3. robot according to claim 1, it is characterised in that one end of the holding band is fixedly connected with backboard, separately
One end is connected with the holding driver element.
4. robot according to claim 3, it is characterised in that the holding band is collectively forming holding area with the backboard
Domain, under the use state of robot, the body upper portion of user is in the holding region.
5. the robot according to claim any one of 1-4, it is characterised in that the cohesion device also includes holding plate tightly,
The holding plate is fixedly connected with the holding band, and the holding driver element is realized by tightening up or relaxing the band of holding tightly
The enclasping force of the holding plate and the body first half is controlled, in the state of holding tightly, the holding plate and user's body upper half
Portion is adjacent to, the contact area to increase cohesion device and user's body first half.
6. robot according to claim 5, it is characterised in that the holding plate is curved, in the state of holding tightly, arc
Concave side be adjacent to user's body first half.
7. 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, and second transmission mechanism is used for relatively described
Backboard adjusts the position of the cohesion device, and then adjusts holding position of the cohesion device to the body first half.
8. 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.
9. robot according to claim 8, it is characterised in that the robot also includes input unit, for receiving
The operational order of user's input.
10. robot according to claim 9, it is characterised in that the input unit includes operation button, or touches
Screen, or sound identification module, or gesture recognition module.
11. robot according to claim 8, it is characterised in that the robot also includes communication module, the communication
Module is connected with the controller, for being communicated to connect between robot and external equipment.
12. a kind of robot system for the adjustment of muscle ridge and rehabilitation training, it is characterised in that appoint including such as claim 1-11
Robot and control device described in one, the control device are connected with the robot communication, and control the machine
The operation of people.
13. a kind of adjustment of muscle ridge and the system of rehabilitation training 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 1-11 robot, the high in the clouds calculation process center and the machine
Device people carries out data exchange with sharing, and realizes remote control and the high in the clouds data analysis of the robot.
14. a kind of be used for the cohesion device of the adjustment of muscle ridge and recovery exercising robot, it is characterised in that the cohesion device is set
In on robot backboard, the body first half for holding the user tightly when user is leaned against on the backboard；Wherein,
The cohesion device includes holding band tightly and holds driver element tightly, and the holding driver element is fixedly connected with the backboard, institute
Stating holding band is used to hold the body first half of user tightly and be allowed to be close proximity to the backboard, and the holding driver element passes through
Tighten up or relax the holding and bring the enclasping force changed to the body first half of user, and then realize on the body
The holding of half portion is with loosening.
15. cohesion device according to claim 14, it is characterised in that region is held in the holding band formation tightly, backboard with
And the body upper portion of user is in the holding region.
16. cohesion device according to claim 14, it is characterised in that one end of the holding band is fixed with backboard to be connected
Connect, the other end is connected with the holding driver element.
17. cohesion device according to claim 16, it is characterised in that the holding band is collectively forming with the backboard and embraced
Tight region, the body upper portion of user is in the holding region.
18. the cohesion device according to claim any one of 14-17, it is characterised in that the cohesion device also includes embracing
Tight plate, the holding plate is fixedly connected with the holding band, and the holding driver element is by tightening up or relaxing the holding
The enclasping force of the holding plate and the body first half is controlled with realizing, in the state of holding tightly, the holding plate and user's body
The body first half is adjacent to, to increase the contact area with user's body first half.
19. cohesion device according to claim 18, it is characterised in that the holding plate is curved, in the state of holding tightly,
The concave side of arc is adjacent to user's body first half.
20. the control method of any one of a kind of claim 1-11 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.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017101159201 | 2017-03-01 | ||
| CN201710115920 | 2017-03-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107080669A true CN107080669A (en) | 2017-08-22 |
Family
ID=59539104
Family Applications (7)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
Family Applications After (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
Country Status (1)
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| CN (7) | CN107080669A (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108044638A (en) * | 2018-01-16 | 2018-05-18 | 深圳艾比仿生机器人科技有限公司 | adjustable robot and its shoulder |
| CN108324492A (en) * | 2018-03-26 | 2018-07-27 | 安阳市翔宇医疗设备有限责任公司 | A kind of waist locking device |
| 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 |
| CN109646167B (en) * | 2019-01-31 | 2021-09-24 | 顾新建 | Back-pull 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 |
| 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 CN201710400349.8A patent/CN107280913A/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107080670A (en) | 2017-08-22 |
| CN107088137A (en) | 2017-08-25 |
| CN107028753A (en) | 2017-08-11 |
| CN107049709A (en) | 2017-08-18 |
| CN107088138A (en) | 2017-08-25 |
| CN107280913A (en) | 2017-10-24 |
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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: 20200602 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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Application publication date: 20170822 |