WO2018157485A1

WO2018157485A1 - System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof

Info

Publication number: WO2018157485A1
Application number: PCT/CN2017/086728
Authority: WO
Inventors: 孙冰
Original assignee: 深圳市得道健康管理有限公司
Priority date: 2017-03-01
Filing date: 2017-05-31
Publication date: 2018-09-07
Also published as: WO2018157491A1; WO2018157490A1; WO2018157486A1; WO2018157488A1; WO2018157487A1; WO2018157489A1

Abstract

A system for muscle, tendon and spine adjustment and rehabilitation training, a robot (1000, 820), and a holding device (300) thereof. The holding device (300) is arranged on a back plate (200) of the robot and used for holding the upper half of the body of a user (888) when the user (888) leans against the back plate (200). The holding device (300) comprises a first holding arm (310), a second holding arm (320) and holding air sacs (330), the first holding arm (310) and the second holding arm (320) being respectively arranged on two sides of the back plate (200) and forming a holding area (302) for accommodating the user (888), the holding air sacs (330) being arranged within the holding area (302) and respectively connected to the first holding arm (310) and the second holding arm (320), the holding air sacs (330) filling the holding area (302) when inflated, so as to hold the upper half of the body located within the holding area (302). Via the structure of the holding arms and the air sacs, the holding device (300) holds and positions the upper half of the body of the user (888) in an upright state against the back plate. The structure is simple and easy to control.

Description

System, robot and holding device for ridge adjustment and rehabilitation training

【技术领域】[Technical Field]

The invention relates to the technical field of medical or training equipment for human spine and tendons, in particular to a system for ridge adjustment and rehabilitation training, a robot and a clasping device thereof.

【背景技术】【Background technique】

Due to people's working methods, work stress or accidents, the spine and tendons often have pains. Therefore, it is necessary to carry out rehabilitation training or adjustment of the spine and tendons. Even those who have healthy ridges often do this. Exercise or stretching in terms of health is also very beneficial to your health.

In the prior art, there are many treatments, trainings and the like for the ridges. For example, the patent number CN105434090A discloses a multi-directional spinal traction rehabilitation bed, the structure of which includes the upper body bed, the left side of the leg, and the right side of the leg. The bed body, the space frame body, the control console, and the front end of the upper body frame body are provided with a fixing frame, and the body body is fixed with the body strap, the bed body of the left side of the leg body and the bed body of the right side of the leg body can be tilted and lowered, and the bed body can be oriented The outer side is bent, and the end of the bed body is provided with a hand-stretching stretching bar. The space frame body is a frame surrounded by the rod body, and a fixed pulley is fixed at the top, and the bed tail pole is fixed with a fixed pulley which can adjust the height up and down, and the console is the tail of the bed. The box body extends the traction rope at the end of the bed, and the traction rope is controlled by the side hand crank.

In addition, the applicant also knows that the patent number CN104382681A discloses a spinal disease prevention and rehabilitation device, which includes a cervical traction mechanism, a lumbar traction mechanism, and a fixed support frame. The lumbar vertebrae cervical vertebrae is designed to be used to pull the lumbar and cervical vertebrae of the user through the traction mechanism of the user's own control mechanism.

The above patents all have the following disadvantages: 1. Due to the structural reasons, the traction force application range is limited, so the user needs to maintain a posture for traction for a long time, the user may feel uncomfortable, and the time period of rehabilitation and treatment is too long; 2. It can only treat or adjust the spinal structure of the human body, and it can not adjust the gluten. It can not meet the requirements of the user to adjust the fascia. It is obvious that the function of the spinal rehabilitation device in the prior art is too single.

【发明内容】 [Summary of the Invention]

The embodiment of the invention provides a system, a robot and a holding device for the ridge adjustment and rehabilitation training, so as to solve the technical problem that the treatment time of the spinal rehabilitation device in the prior art is too long and the function is single.

In order to solve the above problems, an embodiment of the present invention provides a robot for ridge adjustment and rehabilitation training, the robot comprising:

Pedestal

a back plate disposed on the base and rotatably connected to the base;

a gripping device disposed on the back plate for gripping the upper body portion of the user when the user is seated against the back panel; wherein the clasping device includes a first clasp An arm, a second holding arm, and a holding airbag; the first holding arm and the second holding arm are respectively disposed on two sides of the backboard to form a holding area for accommodating a user, The holding airbag is disposed in the holding area and is respectively connected to the first holding arm and the second holding arm, and the holding airbag is filled in the holding area in an inflated state, Further holding the upper half of the body located in the tight area;

a first transmission mechanism for driving the back plate to rotate relative to the base in a state in which the holding device holds the upper half of the user's body.

According to a preferred embodiment of the present invention, the first holding arm and the second holding arm respectively include a main arm and an arm, and one end of the main arm is respectively connected to two sides of the backboard, The arm is rotatably coupled to the other end of the main arm, respectively, such that the arm can be opened relative to the clasp region to facilitate entry of the upper body into the clasp region.

According to a preferred embodiment of the present invention, the inner side of the main arm of the first holding arm and the second holding arm are respectively provided with a holding airbag.

According to a preferred embodiment of the present invention, the main arms of the first and second holding arms and the inner side of the arm are respectively provided with independent holding airbags.

According to a preferred embodiment of the present invention, the robot further includes a second transmission mechanism respectively coupled to the back plate and the holding device, the second transmission mechanism for opposing the back The plate adjusts the position of the clasp device, thereby adjusting the gripping position of the clasp device to the upper half of the body.

According to a preferred embodiment of the invention, the backing plate is curved, and the holding device is used to hold the upper half of the body to the concave side of the curved backing plate.

According to a preferred embodiment of the present invention, an arm width adjuster is disposed between the holding device and the back plate, and the arm width adjuster is configured to adjust a connection position between the holding arm and the two sides of the back plate, and then To the purpose of adjusting the lateral width of the inside of the clasp arm.

According to a preferred embodiment of the present invention, the robot further includes a controller electrically connected to the holding device and the first transmission mechanism for controlling the holding device and the first transmission The operating status of the organization.

According to a preferred embodiment of the invention, the robot further comprises input means for receiving an operation command input by the user.

According to a preferred embodiment of the invention, the input device comprises an operating button, or a touch screen, or a voice recognition module, or a gesture recognition module.

According to a preferred embodiment of the present invention, the robot further includes a communication module, and the communication module is connected to the controller for a communication connection between the robot and the external device.

The embodiment of the present invention further provides a robot system for ridge adjustment and rehabilitation training, comprising the robot and the control device according to any one of the above embodiments, wherein the control device is communicatively connected with the robot, and controls the The operation of the robot.

In order to solve the above technical problem, an embodiment of the present invention further provides a method for controlling a robot, where the method includes:

When the upper half of the user's body is placed in the tight area, the control airbag inflation is used to hold the user's upper body half and the back plate in a tight position;

The first transmission mechanism is controlled to drive the back plate to rotate toward the back side of the user with respect to the base to combine the gravity of the lower half of the user body to adjust the ridge of the user.

According to a preferred embodiment of the present invention, the step of inflating the airbag to hold the user's upper body half and the backboard in a specific manner includes: holding the airbag tightly held by the user's hands, holding the back of the head, holding the back neck, Hold the upper arm, hold the shoulder outside the elbow joint, or hold it under the user's armpit; at this time, the back panel is close to the user's back so that the user's upper body and the back panel are in a tight position.

In order to solve the above technical problem, the embodiment of the present invention further provides a system for ridge adjustment and rehabilitation training for an upright posture of a human body, the system comprising a cloud computing processing center and the robot according to any one of the above embodiments. The cloud computing processing center performs data exchange and sharing with the robot to implement remote control and cloud data analysis of the robot.

Further, an embodiment of the present invention further provides a holding device for a ridge adjustment and rehabilitation training robot, the holding device being disposed on a robot back plate for backing the user on the back plate Holding the top half of the body of the user; wherein the holding device includes a first holding arm, a second holding arm, and a holding airbag; the first holding arm and the second holding Tight arms are respectively disposed on two sides of the backboard to form a holding area for accommodating a user, and the holding airbag is disposed in the holding area and respectively associated with the first holding arm and the The second holding arm is connected, and the holding airbag is filled in the holding area in an inflated state, thereby holding the upper half of the body in the holding area.

Compared with the prior art, the present invention provides a ridge-adjusting and rehabilitation training robot for a human body and a clasping device thereof, wherein the clasping device can erect the upper part of the user's body by providing a brace arm and an airbag structure. The state is held in a tight position with the backboard, and then the transmission mechanism is used to drive the backboard to be turned over to the back side of the user with respect to the base. The robot has a simple structure, which can adjust or train the user's tendons and the entire spine at the same time, shortening the cycle time of treatment or training for the tendons and the entire spine, and reducing the user's treatment time or treatment posture. The pain caused by discomfort.

【附图说明】 [Description of the Drawings]

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a front elevational view showing the overall structure of a preferred embodiment of the ridge-adjusting and rehabilitation training robot of the present invention;

Figure 2 is a side elevational view of the ridge adjustment and rehabilitation training robot of the embodiment of Figure 1;

3 is a side elevational view showing a state in which the ridge adjustment and rehabilitation training robot holds the user in the embodiment of FIG. 1;

4 is a top plan view showing an embodiment of a ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1;

Figure 5 is a top plan view showing another embodiment of the ridge adjusting and rehabilitation training robot of the embodiment of Figure 1;

Figure 6 is a side elevational view of the ridge adjustment and rehabilitation training robot of Figure 3 being flipped under the state of the user;

Figure 7 is a side elevational view of the seat with the seat structure robot structure in an open state of use;

Figure 8 is a block diagram showing the structure of a preferred embodiment of the ridge adjustment and rehabilitation training system of the present invention;

9 is a schematic diagram showing the structure of an embodiment of a robot control system of the present invention;

Fig. 10 is a side elevational view showing the state in which the ridge adjustment and rehabilitation training robot holds the user in another state in the embodiment of Fig. 1.

【具体实施方式】【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 and FIG. 2, FIG. 1 is a schematic front view of a preferred embodiment of a preferred embodiment of the ridge-adjusting and rehabilitation training robot of the present invention, and FIG. 2 is a side view of the ridge-adjusting and rehabilitation training robot of the embodiment of FIG. The robot includes, but is not limited to, the following structure: a base 100, a backing plate 200, a clasping device 300, and a first transmission mechanism 400.

Specifically, the function of the pedestal 100 is to support and fix the whole robot, so that the robot does not move or sway during the working process, and the purpose is to keep the overall structure of the robot in a stable state.

In the illustration of the embodiment, the pedestal 100 is an L-shaped plate-like structure. Of course, in other embodiments, the structure of the pedestal 100 may also be a triangular or inverted T-shaped fixing frame, or even A weight is arranged on the bottom of the base 100 to pressurize the base 100; or a fixing hole or other fixed mounting structure may be disposed on the base 100 to fix the base 100 to the bottom surface or the worktable, etc., further The stability of the susceptor 100 is enhanced. Regardless of the specific structural features of the susceptor 100, those skilled in the art will not be enumerated here.

The backplane 200 is disposed on the base 100 and is rotatably connected to the base 100. Specifically, the backplane 200 is rotatably connected by a pin (not shown) or the like. The first transmission mechanism 400 is disposed on the backboard 200 and the base. The seat 100 cooperates with the rotational connection position.

Preferably, the first transmission mechanism 400 can be a torque motor or a torque device or the like for driving the back plate 200 to rotate relative to the base 100 about the rotational connection position. For example, the back plate 200 and the base 100 are connected by a pin (not shown), the middle of the pin is fixedly connected with the back plate 200, and the two ends are hinged with the base 100, and the first transmission mechanism 400 is a torque motor. The torque motor drives the pin shaft to rotate, thereby achieving the purpose of driving the back plate 200 to rotate relative to the base 100 about the rotational connection position.

The holding device 300 is disposed on the backboard 200 for holding the upper half of the user's body when the user is leaning against the backboard 200. Please refer to FIG. 3 and FIG. 10 together. FIG. 3 is a side view showing a state in which the ridge adjustment and rehabilitation training robot holds the user in the embodiment of FIG. 1. FIG. 10 is a ridge adjustment and rehabilitation training robot in the embodiment of FIG. A side view of the state in which the user is held in another state; the symbol 888 in the figure is the user, and the arrow in the figure indicates the direction in which the first transmission mechanism 400 drives the user to reverse the back side.

Further, please refer to FIG. 1 and FIG. 2 . The robot back plate 200 of the embodiment may further be provided with a neck plate 210. The neck plate 210 is telescopically coupled with the top side of the back plate; The position of the plate 200 in the height is used to protect the user's head and neck when the user leans against the back plate 200 against the back or the back of the user.

It should be noted that the ridge adjustment and rehabilitation training robot in this embodiment is suitable for stretching and adjusting the user's ribs in the upright state of the user's upper body. In other words, the user can use the robot while standing or sitting. When using the robot, the upper half of the user's body needs to be backed against the backboard 200. Only the situation in which the user is in a standing state is illustrated in FIG.

Please refer to FIG. 4. FIG. 4 is a schematic top plan view of an embodiment of the ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1. The holding device 300 in this embodiment includes a first holding arm 310, a second holding arm 320, and a holding air bag 330.

Specifically, the first holding arm 310 and the second holding arm 320 are respectively disposed on two sides of the backboard 200 to form a holding area 302 for accommodating a user, and the holding airbag 330 is disposed in the holding area 302. The first holding arm 310 and the second holding arm 320 are connected to each other, and the specific connection form may be bonding or the like. The holding airbag 330 is filled in the inflated area 302 in an inflated state, thereby holding the upper half of the body of the user located in the tightening area 302.

Preferably, the first holding arm 310 and the second holding arm 320 respectively include a main arm (311, 321) and an arm (312, 322), wherein one ends of the main arms (311, 321) and the back plate respectively The two sides of the 200 are connected, and the arms (312, 322) are respectively rotatably connected to the other ends of the main arms (311, 321), so that the arms (312, 322) can be opened relative to the tightening region 302, facilitating the upper half of the body. The portion enters the grip area 302.

In the present embodiment, the inner arms (311, 321) of the first holding arm 310 and the second holding arm 320 are respectively provided with a holding airbag 330, and the airbags 330 on both sides are independently charged and deflated. Regarding the charging and discharging control unit for holding the airbag 330, it will not be described herein in detail within the scope of those skilled in the art.

Further, please refer to FIG. 5. FIG. 5 is a schematic top plan view of another embodiment of the ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1. The first holding arm 310 in this embodiment is different from the previous embodiment. And the inner arms (311, 321) of the second holding arm 320 and the inner sides of the arms (312, 322) are respectively provided with independent holding airbags 330, so that the holding airbag 330 can better fill the holding area 302. To give the user a more comfortable hold. Of course, in other embodiments, one or more holding airbags may be provided to fill the airbags in the tightening area 302, which are not listed here by those skilled in the art. And detailed.

Further preferably, the back plate 200 in this embodiment may be designed as an arc structure, and the holding device 300 is used to hold the upper half of the body to the concave side of the curved back plate, and the back plate 200 of the structure is adapted. The curved structure of the back of the human body can increase the comfort when the user backs up the board 200.

The holding device 300 is used to hold (fix and fix) the upper body half of the user 888 with the back plate 200, so that the first transmission mechanism 400 holds the upper half of the body of the user 888 at the holding device 300. In the state, the backing plate 200 (together with the upper part of the body of the user 888) is turned over to the back side of the user 888 with respect to the base 100 to achieve the purpose of adjusting or rehabilitating the user's ridge; Please refer to FIG. 6. FIG. 6 is a side elevational view of the ridge adjustment and rehabilitation training robot of FIG.

Preferably, during the process in which the first transmission mechanism 400 drives the backboard 200 (together with the upper body of the user 888) to the back side of the user 888 with respect to the base 100, the user 888 can be driven under the body. The half is suspended, thereby increasing the tensile force on the user's ribs by the gravity of the lower part of the user's 888 body. This situation may have a large tensile force, but may not be suitable for all users. Of course, depending on the situation of different users, different rollover angles or positions can be used, such as the use of a robot in a sitting position or the use of a lower half of the body.

In the embodiment, preferably, when the first transmission mechanism 400 drives the back plate 200 to rotate, the acceleration generated by the back plate on the upper half of the user's body is between 1 time gravity speed and 2 times gravity acceleration. Such an acceleration range value can ensure that the ridges are not damaged due to excessive acceleration when the user's ribs are effectively adjusted or rehabilitated.

Further preferably, in order to achieve an optimal stretching effect, during the driving of the backing plate 200 by the first transmission mechanism 400, the angular acceleration of the backing plate 200 is set such that the backing plate 200 rotates within 5 seconds. Degree, the greater the angle of rotation within 1 second, the greater the acceleration on the upper half of the user's body, and more preferably the angular acceleration of the backing plate 200 is set such that the backing plate 200 rotates within 10 seconds. degree. The value of the specific angular acceleration of the robot during the stretching process using the robot can be specifically set according to the user's situation.

Preferably, referring to FIG. 1 to FIG. 5, the robot further includes a second transmission mechanism 500, which is respectively coupled to the backboard 200 and the clasping device 300 for adjusting the tightness relative to the backboard 200. The position of the device 300, in turn, adjusts the position of the gripping device 300 to the upper half of the user's torso. The second transmission mechanism 500 is specifically configured to change the fixed position of the holding device 300 in the vertical height direction of the backboard 200 to meet the user's needs of different heights or the holding device 300 can hold the user's different body. Half position.

In this embodiment, the second transmission mechanism 500 is specifically configured to provide a plurality of adjustment holes on the side of the back plate 200, and then cooperate with the adjustment holes by the pins to realize the different positions of the holding device 300 and the back plate 200 at different height positions. Cooperate. In addition, in other embodiments, the second transmission mechanism 500 may also be a structural form that drives the holding device 300 to move in the height direction along the back plate 200 by using a driving unit, such as a rack and pinion, a linear motor, or the like. Regarding other structural forms of the second transmission mechanism 500, those skilled in the art can select or design according to the functional requirements of the second transmission mechanism 500, which will not be enumerated and detailed herein.

Wherein, when the user uses the robot in a sitting posture, the base 100 of the robot may further include a seat 110, please refer to FIG. 1 and FIG. 7 together, and FIG. 7 is a seat with a seat structure robot structure. A side view of the open state of use; the structure provided with the seat 110 allows the base 100, the back panel 200, and the clasping device 300 to be configured to allow the user to rest on the back panel 200 in a sitting position and by the clasping device 300 Hold the top half of the body of the user 888.

Preferably, the seat 110 in this embodiment is a folding seat plate that is rotatably connected with the base 100. In the non-use state, the seat 110 is rotatably folded into a retracted state against the base (as shown in FIG. 1). In the state of use, the foldable opening is at an angle to the base 100 (state in Fig. 7), for example, 90 degrees, and the user can sit on the robot. Of course, in this embodiment, only the structure of the seat is listed. In other embodiments, different seat forms may be designed according to the structure of the base 100, and even in the form of using other independent structural benches, the bench may be used. It may not be part of the robot.

The working process of the robot is as follows: firstly, the upper part of the user's body is placed in the holding area, and then the airbag is inflated to hold the upper part of the user's body and the back board in a tight position, and after positioning and holding, the control is performed. The first transmission mechanism drives the backboard to rotate relative to the base toward the back side of the user to combine the gravity of the lower half of the user's body to adjust the ridge of the user. Wherein, the specific method of holding the airbag inflating to hold the upper half of the user's body and the backboard can be as shown in FIG. 3: the airbag is held tightly on the user's hands, the back of the head, the back neck, and the hands are crossed. Hold the arm and hold the shoulder outside the elbow joint; or hold it under the user's armpit in Figure 10; at this time, the back panel is close to the user's back so that the user's upper body and back panel are hug Tight positioning.

In addition, the robot may further include an electronic structure portion (not shown) such as a controller and a display unit, the controller and the holding device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed The electrical connection is used to control the operating state of the holding device 300 and the first and second transmission mechanisms, and the display unit is connected to the controller for displaying information such as the operating state parameter of the robot; wherein the display unit may be a liquid crystal display Or other structural forms with display capabilities.

Further, the robot may further include an input device for receiving an operation instruction input by the user. Specifically, the input device may be an operation button, or a touch screen, or a voice recognition module, or a gesture recognition module or the like. In addition, a communication module may be disposed inside the robot, and the communication module is connected to the controller for communication connection between the robot and the external device. The communication module may be in the form of wired or wireless, such as wireless Bluetooth, radio frequency, wireless, etc., and the wired form may be an interface for connecting a control device such as a computer or a mobile phone, and connecting with an external device through the interface end. Then, the control device connected thereto controls the operation of the robot.

It can be easily seen from the above description that the robot in the embodiment of the present invention can set a controller or other control device for its own structure, or can be connected to an external control device by wired or wireless means, thereby forming a control system through external control. The device controls the movement of the robot. Please refer to FIG. 9. FIG. 9 is a schematic diagram showing the structure of a robot control system according to an embodiment of the present invention. In the figure, a robot labeled with 1000 is indicated as a control device. The control device 2000 can be a mobile phone or a computer, etc., and can be controlled by an APP on a mobile phone or a computer. The APP can provide various operation modes, including adjusting the flipping amplitude, speed, and holding device of the whole-ridge chiropractic robot. Hold the force and other parameters.

Please continue to refer to FIG. 5. In this embodiment, an arm width adjuster 600 is further disposed between the gripping device 300 of the robot and the backboard 200, and the arm width adjuster 600 is used to adjust the grip arms (310, 320) and the back. The connection position on both sides of the board 200 serves to adjust the lateral width of the inside of the holding arms (310, 320), so that the robot's holding device 300 can be used by users who have different shoulder widths. The specific structure of the arm width adjuster 600 may be a bolt, a gasket of different thickness, or a drive telescopic shaft.

Compared with the prior art, the present invention provides a ridge adjustment and rehabilitation training robot for a human body, and the holding device can set the upper half of the user's body in an upright state and the back plate by providing the arm and the airbag structure. Hold the position and then use the transmission mechanism to drive the back plate to the user's back side with respect to the base. The robot has a simple structure, and can adjust or train the user's tendons and the entire spine at the same time; by controlling the turning speed of the transmission mechanism, the force on the user's tendon adjustment and rehabilitation training process can be adjusted, and the force application range is Large, the process of adjusting the user's tendons and rehabilitation training can be completed in a short time, shortening the treatment or training cycle, and reducing the pain caused by the user's long treatment time or uncomfortable treatment posture.

Further, the embodiment of the present invention further provides a system for ridge adjustment and rehabilitation training. Please refer to FIG. 8. FIG. 8 is a structural block diagram of a preferred embodiment of the ridge adjustment and rehabilitation training system of the present invention. The system may include constituent units such as the cloud computing processing center 810 and the robot 820 described in the above embodiments.

Specifically, the cloud computing processing center 810 and the robot 820 are mutually connected and exchange data and share data to realize remote control and cloud data analysis of the robot 820. The specific structural features of the cloud computing processing center 810 are not described herein again within the understanding of those skilled in the art.

The above description is only a part of the embodiments of the present invention, and is not intended to limit the scope of the present invention. Any equivalent device or equivalent process transformation made by using the description of the present invention and the contents of the drawings may be directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

A robot for ridge adjustment and rehabilitation training, characterized in that the robot comprises:

Pedestal

a back plate disposed on the base and rotatably connected to the base;

a gripping device disposed on the back plate for gripping the upper body portion of the user when the user is seated against the back panel; wherein the clasping device includes a first clasp An arm, a second holding arm, and a holding airbag; the first holding arm and the second holding arm are respectively disposed on two sides of the backboard to form a holding area for accommodating a user, The holding airbag is disposed in the holding area and is respectively connected to the first holding arm and the second holding arm, and the holding airbag is filled in the holding area in an inflated state, Further holding the upper half of the body of the user in the holding area;

a first transmission mechanism for driving the back plate to rotate relative to the base in a state in which the holding device holds the upper half of the user's body.
The robot according to claim 1, wherein the first holding arm and the second holding arm respectively comprise a main arm and an arm, and one end of the main arm and the back plate are respectively The side arms are respectively rotatably connected to the other end of the main arm, so that the arm can be opened relative to the holding area, so that the upper part of the body enters into the holding area.
The robot according to claim 2, wherein the inner side of the main arm of the first holding arm and the second holding arm are respectively provided with a holding airbag.
The robot according to claim 2, wherein the main arms of the first and second holding arms and the inner side of the arm are respectively provided with independent holding airbags.
The robot according to claim 1, wherein said robot further comprises a second transmission mechanism, said second transmission mechanism being respectively coupled to said back plate and said holding device, said second transmission mechanism Adjusting the position of the holding device relative to the back plate, thereby adjusting the holding position of the holding device to the upper half of the body.
The robot according to claim 1, wherein the robot further comprises a controller electrically connected to the holding device and the first transmission mechanism for controlling the holding device and The operating state of the first transmission mechanism.
The robot according to claim 6, wherein said robot further comprises input means for receiving an operation command input by the user.
The robot according to claim 7, wherein the input means comprises an operation button, or a touch screen, or a voice recognition module, or a gesture recognition module.
The robot according to claim 6, wherein the robot further comprises a communication module, the communication module being coupled to the controller for a communication connection between the robot and an external device.
A robot system for ridge adjustment and rehabilitation training, comprising: the robot according to any one of claims 1 to 9 and a control device, wherein the control device is communicably connected with the robot, and controls the The operation of the robot.
A control method for a robot according to any one of claims 1-9, characterized in that the method comprises:

When the upper half of the user's body is placed in the tight area, the control airbag inflation is used to hold the user's upper body half and the back plate in a tight position;

The first transmission mechanism is controlled to drive the back plate to rotate toward the back side of the user with respect to the base to combine the gravity of the lower half of the user body to adjust the ridge of the user.
The control method according to claim 11, wherein the step of inflating the airbag to intensively position the upper half of the user's body and the backboard comprises: holding the airbag and holding it in the user's hands. The back of the head, the back of the neck, the arms crossed, the arms, the outside of the elbow joint under the shoulder, or the user's armpit; the back panel is placed against the back of the user so that the upper part of the user's body is The back plate is positioned tightly.
A system for ridge adjustment and rehabilitation training, the system comprising a cloud computing processing center and the robot according to any one of claims 1-9, wherein the cloud computing processing center performs data with the robot Exchange and share to realize remote control and cloud data analysis of the robot.
A holding device for a ridge adjusting and rehabilitation training robot, characterized in that the holding device is disposed on a robot back plate for holding the user when the user is leaning against the back plate The upper half of the user's body; wherein the holding device includes a first holding arm, a second holding arm, and a holding airbag; the first holding arm and the second holding arm are respectively disposed on Two sides of the backboard form a holding area for accommodating a user, and the holding airbag is disposed in the holding area and respectively respectively with the first holding arm and the second holding arm In connection, the holding airbag is filled in the inflated area in an inflated state, thereby holding the upper half of the body located in the holding area.
The holding device according to claim 14, wherein the first holding arm and the second holding arm respectively comprise a main arm and an arm, and one end of the main arm and the back plate respectively Connecting on both sides, the arm is respectively rotatably connected to the other end of the main arm, so that the arm can be opened relative to the holding area, so that the upper part of the body enters the holding area .
The holding device according to claim 15, wherein the inner side of the main arm of the first holding arm and the second holding arm are respectively provided with a holding airbag.
The holding device according to claim 15, wherein the main arms of the first and second holding arms and the inner side of the arm are respectively provided with independent holding airbags.