CN118370640A - Wearable humpback correcting device and control system thereof - Google Patents
Wearable humpback correcting device and control system thereof Download PDFInfo
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Abstract
Description
技术领域Technical Field
本发明涉及脊柱矫正技术领域，具体为一种可穿戴式驼背矫正装置及其控制系统。The present invention relates to the technical field of spinal correction, and in particular to a wearable kyphosis correction device and a control system thereof.
背景技术Background technique
脊柱是人体结构的支撑部分，对于维持人体正常的生理结构具有重要的作用，能够有效的维持人体的体态，但是随着社会的发展，工作和学习带来的压力越来越重，大多数人都会长时间重复某一种动作或者姿势不正确，导致脊椎骨弯曲的状态，出现肩部和脊椎骨产生不同程度的变化，以至脊柱劳损，造成人体疲劳或不适。The spine is the supporting part of the human body structure. It plays an important role in maintaining the normal physiological structure of the human body and can effectively maintain the body posture. However, with the development of society, the pressure brought by work and study is getting heavier. Most people will repeat a certain action or incorrect posture for a long time, which will lead to the curvature of the spine, different degrees of changes in the shoulders and spine, and even spinal strain, causing fatigue or discomfort to the human body.
而骨骼是人体的支架，脊柱是中轴，由30多节椎骨按规律重迭连接而成；正常情况下，它有4个生理弯曲，颈段凸向前，胸段凸向后，腰段再凸向前，骶尾段再凸向后；脊柱向前弯曲度过大，就是驼背。The skeleton is the support of the human body, and the spine is the central axis, which is made up of more than 30 vertebrae that are overlapped and connected in a regular pattern. Under normal circumstances, it has four physiological curves, with the cervical segment convex forward, the thoracic segment convex backward, the lumbar segment convex forward, and the sacral and coccygeal segment convex backward. If the forward curvature of the spine is too large, it is a hunchback.
脊柱损伤(驼背)在康复训练过程中通常需要穿戴贴合脊柱生理弯度的支具，以避免脊柱弯曲角度过大引起二次损伤。现有的脊柱康复训练支具大致分为两种：一种为刚性支具，仅能够作为支撑结构，佩戴不便且无法在康复过程中提供促进作用，对于脊柱损伤患者的康复帮助较小，且穿戴脊柱康复支具后患者腰部后侧无法向后施力，造成患者平躺状态时起身困难；另一种为柔性支具，即驼背矫正带，主要通过束缚骨骼弯曲，达到逐步恢复原状的目的；但现有驼背矫正带由于无法提醒佩戴者已经驼背，因此矫正效果不好。During the rehabilitation training of spinal injuries (kyphosis), patients usually need to wear a brace that fits the physiological curvature of the spine to avoid secondary injury caused by excessive spinal curvature. Existing spinal rehabilitation training braces are roughly divided into two types: one is a rigid brace, which can only serve as a supporting structure, is inconvenient to wear and cannot provide promotion during the rehabilitation process. It is of little help to the rehabilitation of patients with spinal injuries. After wearing the spinal rehabilitation brace, the patient's back waist cannot apply force backwards, making it difficult for the patient to get up when lying flat; the other is a flexible brace, namely a kyphosis correction belt, which mainly restrains the bending of the bones to achieve the purpose of gradually restoring the original state; but the existing kyphosis correction belt cannot remind the wearer that he has a hunchback, so the correction effect is not good.
发明内容Summary of the invention
本发明提供一种可穿戴式驼背矫正装置及其控制系统，用以解决上述提出的现有的脊柱康复训练支具大致分为两种：一种为刚性支具，仅能够作为支撑结构，佩戴不便且无法在康复过程中提供促进作用，对于脊柱损伤患者的康复帮助较小，且穿戴脊柱康复支具后患者腰部后侧无法向后施力，造成患者平躺状态时起身困难；另一种为柔性支具，即驼背矫正带，主要通过束缚骨骼弯曲，达到逐步恢复原状的目的；但现有驼背矫正带由于无法提醒佩戴者已经驼背，因此矫正效果不好的技术问题。The present invention provides a wearable kyphosis correction device and a control system thereof, which are used to solve the above-mentioned existing spinal rehabilitation training braces, which are roughly divided into two types: one is a rigid brace, which can only serve as a supporting structure, is inconvenient to wear and cannot provide a promoting effect during the rehabilitation process, and is of little help to the rehabilitation of patients with spinal injuries. After wearing the spinal rehabilitation brace, the patient's back waist cannot apply force backwards, causing difficulty for the patient to get up when lying flat; the other is a flexible brace, i.e. a kyphosis correction belt, which mainly restrains the bending of bones to achieve the purpose of gradually restoring the original state; but the existing kyphosis correction belt cannot remind the wearer that he has a hunchback, so the correction effect is not good.
为解决上述技术问题，本发明公开了一种可穿戴式驼背矫正装置，包括腰部固定带，腰部固定带的后侧设有硬质橡胶架，硬质橡胶架的上端与背部支撑机构固定连接，背部支撑机构的上端设有肩部固定组件。In order to solve the above technical problems, the present invention discloses a wearable hunchback correction device, including a waist fixing belt, a hard rubber frame is provided on the rear side of the waist fixing belt, the upper end of the hard rubber frame is fixedly connected to a back supporting mechanism, and a shoulder fixing component is provided on the upper end of the back supporting mechanism.
优选的，腰部固定带的开口处设有弹性魔术贴。Preferably, an elastic Velcro is provided at the opening of the waist fixing belt.
优选的，背部支撑机构包括硅胶脊柱垫，硅胶脊柱垫远离穿戴者的一端从上到下依次设有矩形波纹管三、矩形波纹管二和矩形波纹管一。Preferably, the back support mechanism comprises a silicone spine pad, and the end of the silicone spine pad away from the wearer is provided with rectangular bellows three, rectangular bellows two and rectangular bellows one in sequence from top to bottom.
优选的，矩形波纹管三远离硅胶脊柱垫的一端固定连接有脊柱支架三，矩形波纹管二远离硅胶脊柱垫的一端固定连接有脊柱支架二，矩形波纹管一远离硅胶脊柱垫的一端固定连接有脊柱支架一。Preferably, the end of rectangular bellows three away from the silicone spinal pad is fixedly connected to spinal support three, the end of rectangular bellows two away from the silicone spinal pad is fixedly connected to spinal support two, and the end of rectangular bellows one away from the silicone spinal pad is fixedly connected to spinal support one.
优选的，硬质橡胶架通过刚性连接架与脊柱支架一固定连接，脊柱支架三和脊柱支架二通过转动轴一转动连接，脊柱支架二和脊柱支架一之间通过转动轴二转动连接，且脊柱支架三和脊柱支架二、脊柱支架二和脊柱支架一之间均设有硅胶脊柱支架。Preferably, the hard rubber frame is fixedly connected to the spinal support one through a rigid connecting frame, the spinal support three and the spinal support two are rotationally connected through a rotating shaft one, the spinal support two and the spinal support one are rotationally connected through a rotating shaft two, and a silicone spinal support is provided between the spinal support three and the spinal support two, and between the spinal support two and the spinal support one.
优选的，脊柱支架二的安装槽中安装有三个气泵和三组控制阀，三个气泵分别与矩形波纹管三、矩形波纹管二和矩形波纹管一连通，且气泵与矩形波纹管三、矩形波纹管二和矩形波纹管一的连通处均设有一组控制阀，控制阀与控制器电连接，脊柱支架二的安装槽外部与盖板二连接，控制阀通过电池二供电，电池二安装在脊柱支架一的安装槽中，脊柱支架一的安装槽外部与盖板一连接。Preferably, three air pumps and three groups of control valves are installed in the mounting groove of spinal bracket two, the three air pumps are connected with rectangular bellows three, rectangular bellows two and rectangular bellows one respectively, and a group of control valves is provided at the connection points between the air pump and rectangular bellows three, rectangular bellows two and rectangular bellows one, the control valves are electrically connected to the controller, the outside of the mounting groove of spinal bracket two is connected with cover plate two, the control valves are powered by battery two, battery two is installed in the mounting groove of spinal bracket one, and the outside of the mounting groove of spinal bracket one is connected with cover plate one.
优选的，肩部固定组件包括脊柱支架三前后两端对称设置的刚性固定架。Preferably, the shoulder fixation assembly includes a rigid fixing frame symmetrically arranged at the front and rear ends of the spinal support.
一种可穿戴式驼背矫正装置的控制系统，包括九轴传感器模块，九轴传感器模块安装在脊柱支架三上，九轴传感器模块包括两个角度传感器和控制器，两个角度传感器分别与转动轴一和转动轴二电连接，用于检测转动轴一和转动轴二的转动角度，两个角度传感器分别与控制器电连接，控制器与三个气泵和三组控制阀电连接。A control system for a wearable hunchback correction device includes a nine-axis sensor module, which is installed on a spinal support three. The nine-axis sensor module includes two angle sensors and a controller. The two angle sensors are electrically connected to a rotating shaft one and a rotating shaft two, respectively, and are used to detect the rotation angles of the rotating shaft one and the rotating shaft two. The two angle sensors are electrically connected to the controller, respectively, and the controller is electrically connected to three air pumps and three groups of control valves.
优选的，九轴传感器模块通过电池一供电，脊柱支架三的安装槽中安装有电池一，脊柱支架三的安装槽外部设有控制板，控制板通过操作面板与九轴传感器模块的控制器电连接。Preferably, the nine-axis sensor module is powered by battery one, battery one is installed in the mounting slot of spinal bracket three, a control board is provided outside the mounting slot of spinal bracket three, and the control board is electrically connected to the controller of the nine-axis sensor module through an operation panel.
优选的，包括背部支撑机构的控制方法，包括以下步骤：Preferably, the control method of the back support mechanism comprises the following steps:
步骤1：在刚性固定架的前端分别设置一力传感器一，用于检测刚性固定架和穿戴者之间的接触力；Step 1: A force sensor is provided at the front end of the rigid fixing frame to detect the contact force between the rigid fixing frame and the wearer;
步骤2：在矩形波纹管三和脊柱支架三、矩形波纹管二和脊柱支架二、矩形波纹管一和脊柱支架一之间均设置一力传感器二；Step 2: a force sensor 2 is arranged between the rectangular bellows 3 and the spine support 3, between the rectangular bellows 2 and the spine support 2, and between the rectangular bellows 1 and the spine support 1;
步骤3：将步骤1中的力传感器一和步骤2中的力传感器二与控制器电连接；Step 3: Electrically connect the force sensor 1 in step 1 and the force sensor 2 in step 2 to the controller;
步骤4：控制器根据力传感器一的检测值、力传感器二的检测值和公式(1)计算出三个气泵所需送入或抽出的总气量；Step 4: The controller calculates the total amount of gas that needs to be delivered or pumped out by the three air pumps according to the detection value of the force sensor 1, the detection value of the force sensor 2 and formula (1);
其中，V1为三个气泵所需送入或抽出的理论总气量，FA为左侧刚性固定架连接的力传感器一的检测值，FB为右侧刚性固定架连接的力传感器一的检测值，Fa为矩形波纹管三和脊柱支架三之间的力传感器二的检测值，Fb为矩形波纹管二和脊柱支架二之间的力传感二的检测值，Fc为矩形波纹管一和脊柱支架一之间的力传感器二的检测值，A为硅胶脊柱垫和矩形波纹管三、矩形波纹管二和矩形波纹管一的接触面积之和，V为穿戴者直背时矩形波纹管三、矩形波纹管二和矩形波纹管一的体积；Wherein, V1 is the theoretical total air volume required to be delivered or extracted by the three air pumps, FA is the detection value of the force sensor 1 connected to the left rigid fixing frame, FB is the detection value of the force sensor 1 connected to the right rigid fixing frame, Fa is the detection value of the force sensor 2 between the rectangular bellows 3 and the spine support 3, Fb is the detection value of the force sensor 2 between the rectangular bellows 2 and the spine support 2, Fc is the detection value of the force sensor 2 between the rectangular bellows 1 and the spine support 1, A is the sum of the contact areas between the silicone spine pad and the rectangular bellows 3, the rectangular bellows 2 and the rectangular bellows 1, and V is the volume of the rectangular bellows 3, the rectangular bellows 2 and the rectangular bellows 1 when the wearer is on his back straight;
步骤5：控制器根据步骤4计算出的三个气泵所需送入或抽出的总气量和公式(2)计算出与矩形波纹管三对应连通的气泵所需送入或抽出的理论总气量；Step 5: The controller calculates the theoretical total amount of gas that needs to be delivered or extracted by the three air pumps connected to the three corresponding rectangular bellows according to the total amount of gas that needs to be delivered or extracted by the three air pumps calculated in step 4 and formula (2);
其中，Va矩形波纹管三对应连通的气泵所需送入或抽出的理论气量，Ka为矩形波纹管三对硅胶脊柱垫的作用力占矩形波纹管三、矩形波纹管二和矩形波纹管一对硅胶脊柱垫的作用力之和的理论比例；Wherein, Va is the theoretical air volume that needs to be delivered or extracted by the air pump connected to rectangular bellows 3, and Ka is the theoretical ratio of the force of rectangular bellows 3 on the silicone spine pad to the sum of the forces of rectangular bellows 3, rectangular bellows 2 and rectangular bellows 1 on the silicone spine pad;
步骤6：控制器根据步骤5计算出的矩形波纹管三对应连通的气泵所需送入或抽出的理论气量来控制与矩形波纹管三对应连接的控制阀工作，使矩形波纹管三对应连通的气泵所需送入或抽出的实际气量和矩形波纹管三对应连通的气泵所需送入或抽出的理论气量相同。Step 6: The controller controls the operation of the control valve connected to the three corresponding rectangular bellows according to the theoretical gas volume required to be delivered or extracted by the air pump connected to the three corresponding rectangular bellows calculated in step 5, so that the actual gas volume required to be delivered or extracted by the air pump connected to the three corresponding rectangular bellows is the same as the theoretical gas volume required to be delivered or extracted by the air pump connected to the three corresponding rectangular bellows.
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
图1为本发明的爆炸图；Fig. 1 is an exploded view of the present invention;
图2为本发明的穿戴结构示意图；Fig. 2 is a schematic diagram of the wearing structure of the present invention;
图3为本发明的穿戴者直背姿态下的结构示意图；FIG3 is a schematic diagram of the structure of the present invention when the wearer is in a straight back posture;
图4为本发明的穿戴者弯腰姿态下的结构示意图。FIG. 4 is a schematic diagram of the structure of the present invention when the wearer is in a bent posture.
图中：1、刚性固定架；2、九轴传感器模块；3、脊柱支架三；4、电池一；5、控制板；6、操作面板；7、转动轴一；8、硅胶脊柱支架；9、脊柱支架二；10、盖板二；11、控制阀；12、气泵；13、腰部固定带；14、脊柱支架一；15、刚性连接架；16、硬质橡胶架；17、电池二；18、转动轴二；19、盖板一；20、弹性魔术贴；21、硅胶脊柱垫；22、矩形波纹管一；23、矩形波纹管二；24、矩形波纹管三。In the figure: 1. Rigid fixing frame; 2. Nine-axis sensor module; 3. Spine bracket three; 4. Battery one; 5. Control board; 6. Operation panel; 7. Rotation axis one; 8. Silicone spine bracket; 9. Spine bracket two; 10. Cover plate two; 11. Control valve; 12. Air pump; 13. Waist fixing belt; 14. Spine bracket one; 15. Rigid connecting frame; 16. Hard rubber frame; 17. Battery two; 18. Rotation axis two; 19. Cover plate one; 20. Elastic Velcro; 21. Silicone spine pad; 22. Rectangular bellows one; 23. Rectangular bellows two; 24. Rectangular bellows three.
具体实施方式Detailed ways
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，并非特别指称次序或顺位的意思，亦非用以限定本发明，其仅仅是为了区别以相同技术用语描述的组件或操作而已，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案以及技术特征可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.
本发明提供如下实施例The present invention provides the following embodiments
实施例1Example 1
本发明实施例提供了一种可穿戴式驼背矫正装置，如图1所示，包括腰部固定带13，腰部固定带13的后侧设有硬质橡胶架16，硬质橡胶架16的上端与背部支撑机构固定连接，背部支撑机构的上端设有肩部固定组件；The embodiment of the present invention provides a wearable hunchback correction device, as shown in FIG1 , comprising a waist fixing belt 13, a hard rubber frame 16 is provided on the rear side of the waist fixing belt 13, the upper end of the hard rubber frame 16 is fixedly connected to a back support mechanism, and a shoulder fixing component is provided on the upper end of the back support mechanism;
腰部固定带13的开口处设有弹性魔术贴。The opening of the waist fixing belt 13 is provided with elastic Velcro.
上述技术方案的有益效果为：The beneficial effects of the above technical solution are:
通过腰部固定带13将本发明的可穿戴式多功能矫正系统穿戴在穿戴者身上，佩戴方便，硬质橡胶架16紧紧贴合穿戴者腰部，并使穿戴者的后背与背部支撑机构贴合，硬质橡胶架16、背部支撑机构和肩部固定组件可以满足刚性支具所需的支撑结构，硬质橡胶架16为高强度柔性体，既可以作为支点也可以随着脊柱做前后左右等简单动作不会影响穿戴者日常动作，背部支撑机构能够根据穿戴者不同姿态，实时调节背部支撑机构和穿戴者之间的作用力，从而减少穿戴者背部和腰部吃力，且背部支撑机构与穿戴者始终贴合，背部支撑机构能够根据背部支撑机构的变化来判断穿戴者不同姿态，并在穿戴者出现驼背时及时对穿戴者做出预警，解决了现有的脊柱康复训练支具大致分为两种：一种为刚性支具，仅能够作为支撑结构，佩戴不便且无法在康复过程中提供促进作用，对于脊柱损伤患者的康复帮助较小，且穿戴脊柱康复支具后患者腰部后侧无法向后施力，造成患者平躺状态时起身困难；另一种为柔性支具，即驼背矫正带，主要通过束缚骨骼弯曲，达到逐步恢复原状的目的；但现有驼背矫正带由于无法提醒佩戴者已经驼背，因此矫正效果不好的技术问题。The wearable multifunctional correction system of the present invention is worn on the wearer through the waist fixing belt 13, which is convenient to wear. The hard rubber frame 16 fits tightly to the wearer's waist and makes the wearer's back fit with the back support mechanism. The hard rubber frame 16, the back support mechanism and the shoulder fixing assembly can meet the support structure required by the rigid brace. The hard rubber frame 16 is a high-strength flexible body, which can be used as a fulcrum and can also make simple movements such as forward, backward, left and right with the spine without affecting the wearer's daily movements. The back support mechanism can adjust the force between the back support mechanism and the wearer in real time according to the different postures of the wearer, thereby reducing the strain on the wearer's back and waist, and the back support mechanism is always in close contact with the wearer, and the back support mechanism is easy to operate. The support mechanism can judge the different postures of the wearer according to the changes of the back support mechanism, and promptly warn the wearer when the wearer has a hunchback, which solves the problem that the existing spinal rehabilitation training braces are roughly divided into two types: one is a rigid brace, which can only serve as a supporting structure, is inconvenient to wear and cannot provide a promoting effect in the rehabilitation process, and is of little help to the rehabilitation of patients with spinal injuries. After wearing the spinal rehabilitation brace, the patient's back waist cannot apply force backwards, making it difficult for the patient to get up when lying flat; the other is a flexible brace, namely a hunchback correction belt, which mainly restrains the bending of bones to achieve the purpose of gradually restoring the original state; but the existing hunchback correction belt cannot remind the wearer that he has a hunchback, so the technical problem of poor correction effect.
实施例2Example 2
在实施例1的基础上，如图1-图4所示，背部支撑机构包括硅胶脊柱垫21，硅胶脊柱垫21远离穿戴者的一端从上到下依次设有矩形波纹管三24、矩形波纹管二23和矩形波纹管一22；On the basis of Example 1, as shown in FIGS. 1 to 4 , the back support mechanism includes a silicone spine pad 21, and the end of the silicone spine pad 21 away from the wearer is provided with rectangular bellows 3 24, rectangular bellows 2 23 and rectangular bellows 1 22 in sequence from top to bottom;
矩形波纹管三24远离硅胶脊柱垫21的一端固定连接有脊柱支架三3，矩形波纹管二23远离硅胶脊柱垫21的一端固定连接有脊柱支架二9，矩形波纹管一22远离硅胶脊柱垫21的一端固定连接有脊柱支架一14；The end of the rectangular bellows 3 24 away from the silicone spine pad 21 is fixedly connected to the spine support 3 3, the end of the rectangular bellows 2 23 away from the silicone spine pad 21 is fixedly connected to the spine support 2 9, and the end of the rectangular bellows 1 22 away from the silicone spine pad 21 is fixedly connected to the spine support 1 14;
硬质橡胶架16通过刚性连接架15与脊柱支架一14固定连接，脊柱支架三3和脊柱支架二9通过转动轴一7转动连接，脊柱支架二9和脊柱支架一14之间通过转动轴二18转动连接，且脊柱支架三3和脊柱支架二9、脊柱支架二9和脊柱支架一14之间均设有硅胶脊柱支架8；The hard rubber frame 16 is fixedly connected to the spine support 14 through the rigid connecting frame 15, the spine support 3 3 and the spine support 2 9 are rotationally connected through the rotation shaft 1 7, the spine support 2 9 and the spine support 1 14 are rotationally connected through the rotation shaft 2 18, and a silicone spine support 8 is provided between the spine support 3 3 and the spine support 2 9, and between the spine support 2 9 and the spine support 1 14;
脊柱支架二9的安装槽中安装有三个气泵12和三组控制阀11，三个气泵12分别与矩形波纹管三24、矩形波纹管二23和矩形波纹管一22连通，且气泵12与矩形波纹管三24、矩形波纹管二23和矩形波纹管一22的连通处均设有一组控制阀11，控制阀11与控制器电连接，脊柱支架二9的安装槽外部与盖板二10连接，控制阀11通过电池二17供电，电池二17安装在脊柱支架一14的安装槽中，脊柱支架一14的安装槽外部与盖板一19连接；Three air pumps 12 and three groups of control valves 11 are installed in the mounting groove of the spine bracket 2 9. The three air pumps 12 are respectively connected with the rectangular bellows 3 24, the rectangular bellows 2 23 and the rectangular bellows 1 22, and a group of control valves 11 are provided at the connection points between the air pump 12 and the rectangular bellows 3 24, the rectangular bellows 2 23 and the rectangular bellows 1 22. The control valves 11 are electrically connected to the controller. The outside of the mounting groove of the spine bracket 2 9 is connected to the cover plate 2 10. The control valves 11 are powered by the battery 2 17. The battery 2 17 is installed in the mounting groove of the spine bracket 1 14. The outside of the mounting groove of the spine bracket 14 is connected to the cover plate 19.
肩部固定组件包括脊柱支架三3前后两端对称设置的刚性固定架1。The shoulder fixing assembly comprises a rigid fixing frame 1 symmetrically arranged at the front and rear ends of a spinal support 3.
上述技术方案的有益效果为：The beneficial effects of the above technical solution are:
矩形波纹管三24、矩形波纹管二23和矩形波纹管一22为气囊结构，通过控制矩形波纹管三24、矩形波纹管二23和矩形波纹管一22的充放气，能够与紧贴穿戴者脊柱的硅胶脊柱垫21联合作用到穿戴者的脊柱部位，来达到屈背和直背下的矫正脊柱的功能，刚性连接架15作为底部力支点，脊柱支架三3能够绕着转动轴一7转动，脊柱支架二9能够绕着转动轴二18转动，从而使得脊柱支架三3和脊柱支架二9随着穿戴者运动而运动，实现了硅胶脊柱垫21始终与穿戴者脊柱紧贴的目的，硬质橡胶架16、刚性连接架15、硅胶脊柱支架8、脊柱支架一14、脊柱支架二9和脊柱支架三3即满足刚性支具所需的支撑结构，又兼顾柔性支具的便携性、穿戴性。Rectangular bellows three 24, rectangular bellows two 23 and rectangular bellows one 22 are airbag structures. By controlling the inflation and deflation of rectangular bellows three 24, rectangular bellows two 23 and rectangular bellows one 22, they can act on the wearer's spine in combination with the silicone spinal pad 21 that is in close contact with the wearer's spine to achieve the function of correcting the spine under flexion and straight back. The rigid connecting frame 15 serves as the bottom force fulcrum. The spinal support three 3 can rotate around the rotation axis one 7, and the spinal support two 9 can rotate around the rotation axis two 18, so that the spinal support three 3 and the spinal support two 9 move with the wearer's movement, achieving the purpose of the silicone spinal pad 21 always being in close contact with the wearer's spine. The hard rubber frame 16, the rigid connecting frame 15, the silicone spinal support 8, the spinal support one 14, the spinal support two 9 and the spinal support three 3 meet the support structure required by the rigid brace, while taking into account the portability and wearability of the flexible brace.
实施例3Example 3
在实施例2的基础上，一种可穿戴式驼背矫正装置的控制系统，如图1-图4所示，包括九轴传感器模块2，九轴传感器模块2安装在脊柱支架三3上，九轴传感器模块2包括两个角度传感器和控制器，两个角度传感器分别与转动轴一7和转动轴二18电连接，用于检测转动轴一7和转动轴二18的转动角度，两个角度传感器分别与控制器电连接，控制器与三个气泵12和三组控制阀11电连接；On the basis of Example 2, a control system of a wearable kyphosis correction device, as shown in FIGS. 1 to 4, includes a nine-axis sensor module 2, which is mounted on a spinal support three 3, and includes two angle sensors and a controller, wherein the two angle sensors are electrically connected to a rotation axis one 7 and a rotation axis two 18, respectively, and are used to detect the rotation angles of the rotation axis one 7 and the rotation axis two 18, respectively, and the two angle sensors are electrically connected to the controller, and the controller is electrically connected to three air pumps 12 and three groups of control valves 11;
九轴传感器模块2通过电池一4供电，脊柱支架三3的安装槽中安装有电池一4，脊柱支架三3的安装槽外部设有控制板5，控制板5通过操作面板6与九轴传感器模块2的控制器电连接。The nine-axis sensor module 2 is powered by a battery 4 , a battery 4 is installed in the mounting slot of the spinal support 3 , a control board 5 is provided outside the mounting slot of the spinal support 3 , and the control board 5 is electrically connected to the controller of the nine-axis sensor module 2 through an operation panel 6 .
上述技术方案的有益效果为：The beneficial effects of the above technical solution are:
角度传感器分别检测转动轴一7和转动轴二18的转动角度，并将检测值传输至九轴传感器模块2中的控制器，根据转动轴一7和转动轴二18的转动角度能够监测到脊柱支架三3和脊柱支架二9的转动角度，进而判断穿戴者的姿态，在判断穿戴者为驼背时控制器能够通过操作面板6预警，在穿戴着姿态不正确时或需要做弯腰提起的动作时，控制器控制控制阀11和气泵12工作，也可通过操作面板6控制与控制板5电连接的控制阀11和气泵12工作，从而实现了手动和自动两种方式控制矩形波纹管三24、矩形波纹管二23和矩形波纹管一22中的换气量，从而改变矩形波纹管三24、矩形波纹管二23和矩形波纹管一22所对应的硅胶脊柱垫21区域和穿戴者背部之间的作用力，对穿戴者实时矫正以减少穿戴者背部、腰部吃力的情况，其中，两侧的刚性固定架1给穿戴者向后的FA、FB两个力，矩形波纹管三24、矩形波纹管二23和矩形波纹管一22给穿戴者三个向前的Fa、Fb、Fc三个力，两种力平衡，以达到矫正脊柱功能。The angle sensor detects the rotation angles of the rotation axis 1 7 and the rotation axis 2 18 respectively, and transmits the detection value to the controller in the nine-axis sensor module 2. According to the rotation angles of the rotation axis 1 7 and the rotation axis 2 18, the rotation angles of the spinal support 3 3 and the spinal support 2 9 can be monitored, and then the posture of the wearer can be judged. When the wearer is judged to be hunchbacked, the controller can warn through the operation panel 6. When the wearer's posture is incorrect or needs to bend down and lift, the controller controls the control valve 11 and the air pump 12 to work. The control valve 11 and the air pump 12 electrically connected to the control board 5 can also be controlled by the operation panel 6 to work, thereby realizing manual and automatic The ventilation volume in the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22 is controlled in two ways, thereby changing the force between the silicone spine pad 21 area corresponding to the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22 and the wearer's back, and correcting the wearer in real time to reduce the strain on the wearer's back and waist. Among them, the rigid fixing frames 1 on both sides give the wearer two backward forces FA and FB, and the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22 give the wearer three forward forces Fa, Fb, Fc, and the two forces are balanced to achieve the correction of spinal function.
实施例4Example 4
在实施例3的基础上，如图1-图4所示，包括背部支撑机构的控制方法，包括以下步骤：On the basis of Example 3, as shown in FIGS. 1 to 4 , a control method for a back support mechanism includes the following steps:
步骤1：在刚性固定架1的前端分别设置一力传感器一，用于检测刚性固定架1和穿戴者之间的接触力；Step 1: A force sensor is provided at the front end of the rigid fixing frame 1 to detect the contact force between the rigid fixing frame 1 and the wearer;
步骤2：在矩形波纹管三24和脊柱支架三3、矩形波纹管二23和脊柱支架二9、矩形波纹管一22和脊柱支架一14之间均设置一力传感器二；Step 2: a force sensor 2 is arranged between the rectangular bellows 3 24 and the spine support 3 3, the rectangular bellows 2 23 and the spine support 2 9, and the rectangular bellows 1 22 and the spine support 1 14;
步骤3：将步骤1中的力传感器一和步骤2中的力传感器二与控制器电连接；Step 3: Electrically connect the force sensor 1 in step 1 and the force sensor 2 in step 2 to the controller;
步骤4：控制器根据力传感器一的检测值、力传感器二的检测值和公式(1)计算出三个气泵12所需送入或抽出的总气量；Step 4: The controller calculates the total amount of gas that needs to be delivered or pumped out by the three air pumps 12 according to the detection value of the force sensor 1, the detection value of the force sensor 2 and formula (1);
其中，V1为三个气泵12所需送入或抽出的理论总气量，FA为左侧刚性固定架1连接的力传感器一的检测值，FB为右侧刚性固定架1连接的力传感器一的检测值，Fa为矩形波纹管三24和脊柱支架三3之间的力传感器二的检测值，Fb为矩形波纹管二23和脊柱支架二9之间的力传感二的检测值，Fc为矩形波纹管一22和脊柱支架一14之间的力传感器二的检测值，V为穿戴者直背时矩形波纹管三24、矩形波纹管二23和矩形波纹管一22的体积；Wherein, V1 is the theoretical total air volume required to be delivered or extracted by the three air pumps 12, FA is the detection value of the force sensor 1 connected to the left rigid fixing frame 1, FB is the detection value of the force sensor 1 connected to the right rigid fixing frame 1, Fa is the detection value of the force sensor 2 between the rectangular bellows 3 24 and the spinal support 3 3, Fb is the detection value of the force sensor 2 between the rectangular bellows 2 23 and the spinal support 2 9, Fc is the detection value of the force sensor 2 between the rectangular bellows 1 22 and the spinal support 1 14, and V is the volume of the rectangular bellows 3 24, the rectangular bellows 2 23 and the rectangular bellows 1 22 when the wearer has a straight back;
步骤5：控制器根据步骤4计算出的三个气泵12所需送入或抽出的总气量和公式(2)计算出与矩形波纹管三24对应连通的气泵12所需送入或抽出的理论总气量；Step 5: The controller calculates the theoretical total amount of gas that needs to be delivered or extracted by the air pump 12 corresponding to the rectangular bellows 3 24 according to the total amount of gas that needs to be delivered or extracted by the three air pumps 12 calculated in step 4 and formula (2);
其中，Va矩形波纹管三24对应连通的气泵12所需送入或抽出的理论气量，Ka为矩形波纹管三24对硅胶脊柱垫21的作用力占矩形波纹管三24、矩形波纹管二23和矩形波纹管一22对硅胶脊柱垫21的作用力之和的理论比例；Wherein, V a is the theoretical air volume that the rectangular bellows three 24 corresponds to the connected air pump 12 and needs to deliver or extract, and K a is the theoretical ratio of the force of the rectangular bellows three 24 on the silicone spine pad 21 to the sum of the forces of the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22 on the silicone spine pad 21;
步骤6：控制器根据步骤5计算出的矩形波纹管三24对应连通的气泵12所需送入或抽出的理论气量来控制与矩形波纹管三24对应连接的控制阀11工作，使矩形波纹管三24对应连通的气泵12所需送入或抽出的实际气量和矩形波纹管三24对应连通的气泵12所需送入或抽出的理论气量相同。Step 6: The controller controls the control valve 11 connected to the corresponding rectangular bellows three 24 to operate according to the theoretical gas volume required to be delivered or extracted by the air pump 12 connected to the corresponding rectangular bellows three 24 calculated in step 5, so that the actual gas volume required to be delivered or extracted by the air pump 12 connected to the corresponding rectangular bellows three 24 is the same as the theoretical gas volume required to be delivered or extracted by the air pump 12 connected to the corresponding rectangular bellows three 24.
上述技术方案的有益效果为：The beneficial effects of the above technical solution are:
通过控制矩形波纹管三24对应连通的气泵12所需送入或抽出的理论气量来实时调节穿戴者不同姿态下矩形波纹管三24所对应的硅胶脊柱垫21和穿戴者背部之间的作用力，同理，将公式(2)中的矩形波纹管三24对硅胶脊柱垫21的作用力占矩形波纹管三24、矩形波纹管二23和矩形波纹管一22对硅胶脊柱垫21的作用力之和的理论比例更换为矩形波纹管二23或矩形波纹管一22对硅胶脊柱垫21的作用力占矩形波纹管三24、矩形波纹管二23和矩形波纹管一22对硅胶脊柱垫21的作用力之和的理论比例，即可计算出矩形波纹管二23或矩形波纹管一22对应连通的气泵12所需送入或抽出的理论气量，Va为正值时气泵12充气，Va为负值时气泵12抽气，实现了自动调节矩形波纹管三24、矩形波纹管二23和矩形波纹管一22中的换气量，从而改变矩形波纹管三24、矩形波纹管二23和矩形波纹管一22所对应的硅胶脊柱垫21和穿戴者背部之间的作用力的目的，控制器能够实时检测穿戴者姿态并配合矩形波纹管三24、矩形波纹管二23和矩形波纹管一22进行实时矫正。By controlling the theoretical amount of air that needs to be delivered or extracted by the air pump 12 connected to the rectangular bellows 3 24, the force between the silicone spine pad 21 corresponding to the rectangular bellows 3 24 and the wearer's back under different postures of the wearer can be adjusted in real time. Similarly, the theoretical ratio of the force of the rectangular bellows 3 24 on the silicone spine pad 21 to the sum of the forces of the rectangular bellows 3 24, the rectangular bellows 2 23 and the rectangular bellows 1 22 on the silicone spine pad 21 in formula (2) is replaced with the theoretical ratio of the force of the rectangular bellows 2 23 or the rectangular bellows 1 22 on the silicone spine pad 21 to the sum of the forces of the rectangular bellows 3 24, the rectangular bellows 2 23 and the rectangular bellows 1 22 on the silicone spine pad 21. The theoretical amount of air that needs to be delivered or extracted by the air pump 12 connected to the rectangular bellows 2 23 or the rectangular bellows 1 22 can be calculated. When Va is a positive value, the air pump 12 is inflated, and V When a is a negative value, the air pump 12 draws air, thereby automatically adjusting the ventilation volume in the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22, thereby changing the force between the silicone spinal pad 21 corresponding to the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22 and the wearer's back. The controller can detect the wearer's posture in real time and cooperate with the rectangular bellows three 24, the rectangular bellows two 23 and the rectangular bellows one 22 for real-time correction.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.
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