WO2018157486A1 - 用于筋脊调整及康复训练的系统、机器人及其抱紧装置 - Google Patents

用于筋脊调整及康复训练的系统、机器人及其抱紧装置 Download PDF

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Publication number
WO2018157486A1
WO2018157486A1 PCT/CN2017/086729 CN2017086729W WO2018157486A1 WO 2018157486 A1 WO2018157486 A1 WO 2018157486A1 CN 2017086729 W CN2017086729 W CN 2017086729W WO 2018157486 A1 WO2018157486 A1 WO 2018157486A1
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WIPO (PCT)
Prior art keywords
holding
arm
robot
user
holding arm
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PCT/CN2017/086729
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English (en)
French (fr)
Inventor
孙冰
Original Assignee
深圳市得道健康管理有限公司
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Publication of WO2018157486A1 publication Critical patent/WO2018157486A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/37—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
    • 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

Definitions

  • 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.
  • 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.
  • 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 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.
  • an embodiment of the present invention provides a robot for ridge adjustment and rehabilitation training, the robot comprising:
  • a back plate disposed on the base and rotatably connected to the base;
  • the clasping device includes a first clasp An arm and a second holding arm, the first holding arm and the second holding arm are respectively disposed on two sides of the backboard, forming a holding area for accommodating a user, the first holding a clamping arm driving unit is provided on the tight arm and/or the second holding arm, and the arm driving unit is changed by controlling an extension length of the first holding arm and/or the second holding arm
  • the size of the gripping region achieves tightness and relaxation of the upper half of the body of the user located in the gripping region;
  • 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 first holding arm and the second holding arm are connected to the opposite end of the fixed connection end of the backboard by a movable chain.
  • the arm driving unit is disposed at a middle portion of the holding arm, the arm driving unit is a linear driving motor, and the stator and the mover of the linear driving motor are respectively fixed to the fixed end of the holding arm.
  • the movable end is connected, and the adjustment of the extension length of the holding arm is realized by changing the relative driving position of the moving motor and the stator of the linear driving motor.
  • the arm driving unit is disposed at a middle portion of the holding arm, the arm driving unit is a hydraulic cylinder, and the cylinder and the piston rod of the hydraulic cylinder and the fixed end of the holding arm and the movable arm respectively
  • the end connection adjusts the extension length of the holding arm by changing the relative transmission position of the cylinder block and the piston rod of the hydraulic cylinder.
  • the first holding arm and the second holding arm are provided with a spacer layer made of a soft material on one side of the holding area.
  • 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.
  • the robot further includes a third transmission mechanism, the third transmission mechanism being coupled to the holding device for driving the holding arm of the holding device relative to the same
  • the connecting position of the backboard is rotated, so that the holding arm is lifted upwards, so that the upper part of the user's body enters the holding area.
  • the backing plate is curved
  • the holding device is used to hold the upper half of the body to the concave side of the curved backing plate.
  • 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.
  • the robot further comprises input means for receiving an operation command input by the user.
  • the input device comprises an operating button, or a touch screen, or a voice recognition module, or a gesture recognition module.
  • 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.
  • an embodiment of the present invention further provides a method for controlling a robot, where the method includes:
  • the control clasp device When the upper half of the user's body is placed in the gripping area, the control clasp device positions the upper half of the user's body and the backboard;
  • 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.
  • an 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.
  • 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 and a second holding arm, and the first holding arm and the second holding arm are respectively provided Forming a holding area for accommodating a user on both sides of the backboard, and the first holding arm and/or the second holding arm are provided with a boom driving unit, and the arm driving The unit changes the size of the clasping region by controlling the extension length of the first clasping arm and/or the second clasping arm, thereby achieving the upper half of the body of the user located in the clasping region Hold and relax.
  • the first holding arm and the second holding arm are connected to the opposite end of the fixed connection end of the backboard by a movable chain.
  • the arm driving unit is disposed at a middle portion of the holding arm, the arm driving unit is a linear driving motor, and the stator and the mover of the linear driving motor are respectively fixed to the fixed end of the holding arm.
  • the movable end is connected, and the adjustment of the extension length of the holding arm is realized by changing the relative driving position of the moving motor and the stator of the linear driving motor.
  • the arm driving unit is disposed at a middle portion of the holding arm, the arm driving unit is a hydraulic cylinder, and the cylinder and the piston rod of the hydraulic cylinder and the fixed end of the holding arm and the movable arm respectively
  • the end connection adjusts the extension length of the holding arm by changing the relative transmission position of the cylinder block and the piston rod of the hydraulic cylinder.
  • the first holding arm and the second holding arm are provided with a spacer layer made of a soft material on one side of the holding area.
  • the present invention provides a ridge-adjusting and rehabilitation training system for a human body, a robot and a clasping device thereof, and the clasping device can provide a user's body by providing a boom arm and a boom arm driving unit structure.
  • the upper half is positioned in an upright position with the back plate, and then the transmission mechanism is used to drive the back plate 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.
  • FIG. 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;
  • Figure 3 is a side elevational view showing the ridge adjustment and rehabilitation training robot holding the user state in the embodiment of Figure 1;
  • Figure 4 is a top plan view showing the structure of the ridge adjusting and rehabilitation training robot in the non-tight state of the embodiment of Figure 1;
  • Figure 5 is a top plan view showing the state in which the ridge adjusting and rehabilitation training robot of the embodiment of Figure 1 is in a tight state;
  • 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.
  • FIG. 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.
  • 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
  • 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.
  • 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.
  • the pedestal 100 is an L-shaped plate-like structure.
  • 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.
  • 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.
  • 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.
  • 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 another state in which the user is hung, in which 888 is the user, and the arrow indicates the direction in which the first transmission mechanism 400 drives the user to flip toward the back side.
  • 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.
  • 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.
  • the user can use the robot while standing or sitting.
  • 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.
  • FIG. 4 is a top plan view showing the non-tight state of the tightening device of the ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1;
  • FIG. 5 is the ridge adjusting and rehabilitation training in the embodiment of FIG.
  • the top view of the holding device of the robot is in a top view; wherein the holding device 300 in this embodiment includes a first holding arm 310, a second holding arm 320, and a clasp driving unit 330.
  • first holding arm 310 and the second holding arm 320 are respectively disposed on two sides of the backboard 200.
  • first holding arm 310 and the second holding arm 320 in the embodiment are connected to the opposite ends of the fixed connection end of the backboard 200 by the movable chain 340.
  • the first clasp arm 310, the second clasp arm 320, the backing plate 200, and the movable chain 340 together form a gripping region 302 for receiving a user.
  • the first holding arm 310 and the second holding arm 320 are respectively provided with a boom driving unit 330, and the arm driving unit 330 controls the first holding arm 310 and the second holding arm 320.
  • the length is extended to change the size of the clasp region 302, thereby achieving tightness and relaxation of the upper half of the body of the user 888 located in the clasp region 302.
  • the first holding arm 310 and the second holding arm 320 are connected together by the movable chain 340.
  • the arm driving unit 330 drives the holding, a tight area 302 can be formed with the two holding arms, and the movable chain 340 structure Compared with the purely rigid holding arm, it can reduce the damage caused to the user due to excessive force.
  • first holding arm 310, the second holding arm 320, and the movable chain 340 are provided with a spacer layer (not shown) made of a soft material on one side in the holding area 302.
  • the septum layer can be made of sponge, fiber or rubber. The purpose is to form soft contact with the user when the gripping arm is driven and hung, thereby reducing the pain of squeezing and increasing the comfort of use.
  • the arm driving unit 330 is disposed at a middle portion of the holding arm (310, 320).
  • the arm driving unit 330 is a linear driving motor, and the stator and the mover of the linear driving motor are respectively fixed to the holding arm.
  • the ends (311, 321) and the movable ends (312, 322) are connected, and the adjustment of the extension length of the holding arms (310, 320) is realized by changing the relative driving position of the movable motor and the stator of the linear driving motor.
  • the arm driving unit 330 may also be a hydraulic cylinder, and the cylinder block and the piston rod of the hydraulic cylinder are respectively connected to the fixed ends (311, 321) and the movable ends (312, 322) of the holding arms, by changing the hydraulic cylinder.
  • the relative transmission position of the cylinder block and the piston rod realizes the adjustment of the extension length of the holding arms (310, 320).
  • the arm driving unit 330 may be disposed only on one of the holding arms (310 or 320), and the two legs of the other holding arm may be a sliding connection structure, through one side.
  • the arm driving unit 330 drives the other side of the holding arm to slide, thereby realizing the adjustment of the extension length of the two side holding arms (310, 320), thereby achieving the upper half of the body of the user 888 located in the holding area 302. Hold and relax.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • a driving unit such as a rack and pinion, a linear motor, or the like.
  • the robot may further include a third transmission mechanism 700 connected to the holding device 300 for driving the holding arm of the holding device 300 to rotate relative to the connection position with the back plate 200, Further, the clasp arm is lifted upward to facilitate entry of the upper body portion of the user into the clasp region 302.
  • the third transmission mechanism 700 can be a torque motor or a torque device, etc., and rotates the clamping arm (310 or 320) around its connection position with the backboard 200.
  • 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.
  • FIG. 7 is a seat with a seat structure robot structure.
  • the seat 110 in this embodiment is a folding seat plate that is rotatably connected with the base 100.
  • the seat 110 In the non-use state, the seat 110 is rotatably folded into a retracted state against the base (as shown in FIG. 1).
  • the foldable opening 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.
  • the structure of the seat is listed.
  • 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 holding device is controlled (specifically, the control arm driving unit drives the arm to move the arm) to connect the upper part of the user's body with The back plate is in a tightly positioned position, and after the positioning is hung, 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 achieve the use.
  • the ridges of the person are adjusted for the purpose.
  • 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.
  • 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.
  • 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).
  • an electronic structure portion 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.
  • the robot may further include an input device for receiving an operation instruction input by the user.
  • 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.
  • 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.
  • FIG. 9 is a schematic diagram showing the structure of a robot control system according to an embodiment of the present invention.
  • 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.
  • 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.
  • the present invention provides a ridge-adjusting 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 by providing a lifting arm and a clasping driving unit.
  • the backboard is held in a tight position, 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, 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.
  • 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.
  • 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.

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Abstract

一种用于筋脊调整及康复训练的系统、机器人(820, 1000)及其抱紧装置(300)，其中，该抱紧装置包括第一抱紧臂(310)以及第二抱紧臂(320)，所述第一抱紧臂和所述第二抱紧臂分别设于背板(200)的两侧，形成用于容纳使用者(888)的抱紧区域(302)，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元(330)，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧与放松。该抱紧装置通过设置抱紧臂以及抱臂驱动单元，可将使用者的躯体上半部以直立的状态与背板抱紧定位，结构简单，易于控制。

Description

用于筋脊调整及康复训练的系统、机器人及其抱紧装置
【技术领域】
本发明涉及人体脊椎以及筋络的医疗或者训练器材的技术领域，具体是涉及一种用于筋脊调整及康复训练的系统、机器人及其抱紧装置。
【背景技术】
由于人们的工作方式、工作压力或者意外事故等原因，脊椎以及筋络经常会出现病痛，因此需要进行对脊椎以及筋络进行康复性训练或者调整，即便是筋脊健康的人，经常做一些这方面的锻炼或者拉伸，对身体健康也是非常有益处的。
现有技术中针对筋脊的治疗、训练等器材有很多，譬如专利号CN105434090A就公开了一种多方位脊柱牵引康复床，其结构包括上身床体、腿部左侧床体、腿部右侧床体、空间架体、操控台，上身架体前端设有固定架，配合缚身带固定人体上身，腿部左侧床体及腿部右侧床体其床板可倾斜升降，床体可向外侧弯转，床体尾端设有手摇拉伸杠，空间架体是杆体围成的架，顶部固定一个定滑轮，床尾立杆固定一个可上下调整高度的定滑轮，操控台是床尾的箱体，在床尾处伸出牵引绳，通过侧面的手摇盘控制牵引绳的收放。
另外，申请人还了解到专利号CN104382681A公开了一种脊柱疾病预防康复装置，该装置包括颈椎牵引机构、腰椎牵引机构以及固定支撑架。其采用腰椎颈椎卧立两用设计，通过使用者自行控制机构的牵引力道对使用者的腰椎和颈椎进行牵引。
上述专利都存在以下缺点：1、由于结构的原因，牵引力施加范围有限，因此需要使用者长时间的保持一个姿势进行牵引拉伸，使用者会感觉不适，其康复及治疗的时间周期过长；2、其只能对人体部分脊椎结构进行治疗或者训练调整，并且还不能整筋，无法满足使用者对筋络进行调整的要求，很显然现有技术中脊柱康复治疗装置的功能过于单一。
【发明内容】
本发明实施例提供一种用于筋脊调整及康复训练的系统、机器人及其抱紧装置，以解决现有技术中脊柱康复治疗装置存在的治疗时间过长以及功能单一的技术问题。
为解决上述问题，本发明实施例一方面提供了一种用于筋脊调整及康复训练的机器人，所述机器人包括：
基座；
背板，设置于所述基座上且与所述基座转动连接；
抱紧装置，设置于所述背板上，用于在使用者背靠在所述背板上时抱紧所述使用者的躯体上半部；其中，所述抱紧装置包括第一抱紧臂以及第二抱紧臂，所述第一抱紧臂和所述第二抱紧臂分别设于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧与放松；
第一传动机构，用于在所述抱紧装置抱紧所述使用者的躯体上半部的状态下传动所述背板相对于所述基座旋转。
根据本发明一优选实施例，所述第一抱紧臂和所述第二抱紧臂与所述背板固定连接端的相异端之间通过活动链条连接。
根据本发明一优选实施例，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为直线驱动电机，直线驱动电机的定子和动子分别与抱紧臂的固定端和活动端连接，通过改变直线驱动电机的动子与定子的相对传动位置，实现对抱紧臂延伸长度的调节。
根据本发明一优选实施例，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为液压缸，液压缸的缸体和活塞杆分别与抱紧臂的固定端和活动端连接，通过改变液压缸的缸体和活塞杆的相对传动位置，实现对抱紧臂延伸长度的调节。
根据本发明一优选实施例，所述第一抱紧臂和所述第二抱紧臂在所述抱紧区域内的一侧设有软质材料制成的隔垫层。
根据本发明一优选实施例，所述机器人进一步包括第二传动机构，所述第二传动机构分别与所述背板和所述抱紧装置连接，所述第二传动机构用于相对所述背板调节所述抱紧装置的位置，进而调节所述抱紧装置对躯体上半部的抱紧位置。
根据本发明一优选实施例，所述机器人还包括第三传动机构，所述第三传动机构与所述抱紧装置连接，用于驱动所述抱紧装置的抱紧臂相对于其与所述背板的连接位置处转动，进而使抱紧臂向上抬起，方便使用者的躯体上半部进入到所述抱紧区域内。
根据本发明一优选实施例，所述背板呈弧形，所述抱紧装置用于将躯体上半部抱紧于弧形背板的凹侧。
根据本发明一优选实施例，所述机器人还包括控制器，所述控制器与所述抱紧装置以及所述第一传动机构电连接，用于控制所述抱紧装置以及所述第一传动机构的运行状态。
根据本发明一优选实施例，所述机器人还包括输入装置，用于接收用户输入的操作指令。
根据本发明一优选实施例，所述输入装置包括操作按键，或触摸屏，或语音识别模块，或手势识别模块。
根据本发明一优选实施例，所述机器人还包括通信模块，所述通信模块与所述控制器连接，用于机器人与外部设备之间通信连接。
本发明实施例进一步提供一种用于筋脊调整及康复训练的机器人系统，包括上述实施例中任一项所述的机器人以及控制设备，所述控制设备与所述机器人通信连接，并控制所述机器人的运行。
为解决上述技术问题，本发明实施例进一步提供一种机器人的控制方法，所述方法包括：
在使用者的躯体上半部置于抱紧区域时，控制抱紧装置将使用者的躯体上半部与背板抱紧定位；
控制第一传动机构带动背板相对于所述基座向所述使用者的背侧转动，以结合利用使用者躯体下半部的重力，达到对使用者的筋脊进行调整的目的。
为解决上述技术问题，本发明实施例还提供一种用于人体直立姿势的筋脊调整及康复训练的系统，所述系统包括云端运算处理中心以及上述实施例中任一项所述机器人，所述云端运算处理中心与所述机器人进行数据交换与共享，实现所述机器人的远端控制及云端数据分析。
进一步地，本发明实施例又提供一种用于筋脊调整及康复训练机器人的抱紧装置，所述抱紧装置设置于机器人背板上，用于在使用者背靠在所述背板上时抱紧所述使用者的躯体上半部；其中，所述抱紧装置包括第一抱紧臂以及第二抱紧臂，所述第一抱紧臂和所述第二抱紧臂分别设于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧与放松。
根据本发明一优选实施例，所述第一抱紧臂和所述第二抱紧臂与所述背板固定连接端的相异端之间通过活动链条连接。
根据本发明一优选实施例，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为直线驱动电机，直线驱动电机的定子和动子分别与抱紧臂的固定端和活动端连接，通过改变直线驱动电机的动子与定子的相对传动位置，实现对抱紧臂延伸长度的调节。
根据本发明一优选实施例，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为液压缸，液压缸的缸体和活塞杆分别与抱紧臂的固定端和活动端连接，通过改变液压缸的缸体和活塞杆的相对传动位置，实现对抱紧臂延伸长度的调节。
根据本发明一优选实施例，所述第一抱紧臂和所述第二抱紧臂在所述抱紧区域内的一侧设有软质材料制成的隔垫层。
相对于现有技术，本发明提供的用于人体的筋脊调整及康复训练系统、机器人及其抱紧装置，其抱紧装置通过设置抱臂以及抱臂驱动单元结构，可将使用者的躯体上半部以直立的状态与背板抱紧定位，然后利用传动机构带动背板相对于基座向使用者的背侧翻转。该机器人的结构简单，可同时对使用者的筋络以及整个脊椎进行调整或者训练，缩短了对筋络以及整个脊椎的治疗或训练的周期时间，减少了使用者因治疗时间过长或者治疗姿势不舒适所带来的痛苦。
【附图说明】
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明用于筋脊调整及康复训练机器人一优选实施例的整体结构正视示意图；
图2是图1实施例中筋脊调整及康复训练机器人的侧视示意图；
图3是图1实施例中筋脊调整及康复训练机器人抱紧使用者状态的侧视示意图；
图4是图1实施例中筋脊调整及康复训练机器人的抱紧装置非抱紧状态的俯视结构示意图；
图5是图1实施例中筋脊调整及康复训练机器人的抱紧装置抱紧状态的俯视结构示意图；
图6是图3中筋脊调整及康复训练机器人抱紧使用者状态下进行翻转的侧视示意图；
图7是带有座椅结构机器人结构的座椅处于打开使用状态的侧视示意图；
图8是本发明用于筋脊调整及康复训练系统一优选实施例的结构组成框图；
图9是本发明机器人控制系统实施例的组成结构示意简图；
图10是图1实施例中筋脊调整及康复训练机器人抱紧使用者另一种状态的侧视示意图。
【具体实施方式】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
请一并参阅图1和图2，图1是本发明用于筋脊调整及康复训练机器人一优选实施例的整体结构正视示意图，图2是图1实施例中筋脊调整及康复训练机器人的侧视示意图，该机器人包括但不限于以下结构：基座100、背板200、抱紧装置300以及第一传动机构400。
具体而言，基座100的作用为对机器人整体起到支撑以及固定的作用，使机器人在工作过程中，不会移动或者摇摆，目的是保持机器人整体结构处于稳定的状态。
在本实施例的图示中基座100为L型的板状结构，当然，在其他实施例中，基座100的结构还可以为三角形或者倒T字型固定架等结构，甚至还可以在基座100的底部设置配重，以压稳基座100；再或者还可以在基座100上设置固定孔或者其他固定安装结构，以将基座100与底面或者工作台等位置固定连接，进一步增强基座100的稳定性，关于基座100具体的结构特征，在本领域技术人员的理解范围内，此处就不再一一列举。
背板200设置于基座100上，且与基座100转动连接，具体可以为通过销轴（图中未标示）或其他方式转动连接在一起，第一传动机构400设于背板200与基座100配合转动连接位置处。
优选地，该第一传动机构400可以为力矩电机或者力矩器等，用于带动背板200相对于基座100绕转动连接位置处进行旋转。譬如，背板200与基座100通过销轴（图中未标示）连接，销轴的中部与背板200为固定连接，而两端则与基座100铰接，第一传动机构400为力矩电机，力矩电机带动销轴转动，进而实现带动背板200相对于基座100绕转动连接位置处进行转动的目的。
抱紧装置300设置于背板200上，用于在使用者背靠在背板200上时，抱紧使用者的躯体上半部。请一并参阅图3和图10，图3是图1实施例中筋脊调整及康复训练机器人抱紧使用者一种状态的侧视示意图，图10是图1实施例中筋脊调整及康复训练机器人抱紧使用者另一种状态的侧视示意图，图中标注888为使用者，箭头表示为第一传动机构400带动使用者向背侧翻转的方向。
进一步地，请继续参阅图1和图2，本实施例中的机器人背板200上还可以设置颈靠板210，该颈靠板210与背板的顶侧伸缩滑动连接；进而调整其相对背板200在高度上的设置位置，用于在使用者背靠在背板200上时，抵靠使用者的后脑或者后颈，起到保护使用者头部和颈部的作用。
这里需要说明的是，本实施例中的筋脊调整及康复训练机器人适用于使用者的躯体上半部处于直立状态下对使用者的筋脊进行拉伸调整。换句话说是使用者可以处于站立或者坐立状态下使用该机器人，使用机器人时都需要使用者的躯体上半部背靠于背板200上。图3中只是示意出了使用者处于站立状态的情况。
请一并参阅图4和图5，图4是图1实施例中筋脊调整及康复训练机器人的抱紧装置非抱紧状态的俯视结构示意图；图5是图1实施例中筋脊调整及康复训练机器人的抱紧装置抱紧状态的俯视结构示意图；其中，本实施例中的抱紧装置300包括第一抱紧臂310、第二抱紧臂320以及抱紧驱动单元330。
具体而言，该第一抱紧臂310和第二抱紧臂320分别设置于背板200的两侧。优选地，本实施例中的第一抱紧臂310和第二抱紧臂320与背板200固定连接端的相异端之间通过活动链条340连接。第一抱紧臂310、第二抱紧臂320、背板200以及活动链条340共同形成用于容纳使用者的抱紧区域302。
在本实施例中，第一抱紧臂310和第二抱紧臂320上均设有抱臂驱动单元330，抱臂驱动单元330通过控制第一抱紧臂310和第二抱紧臂320的延伸长度来改变抱紧区域302的大小，进而实现对位于抱紧区域302内使用者888的躯体上半部的抱紧与放松。
利用活动链条340将第一抱紧臂310和第二抱紧臂320连接在一起，在抱臂驱动单元330驱动抱紧时，可以与两抱紧臂形成一抱紧区域302，活动链条340结构相对于纯刚性的抱紧臂来讲，可以减轻由于力度过大给使用者造成的伤害。
进一步地，第一抱紧臂310、第二抱紧臂320以及活动链条340在抱紧区域302内的一侧设有软质材料制成的隔垫层（图中未示）。隔垫层可以为海绵、纤维或者橡胶等材质制成，目的是在抱紧臂被驱动抱紧时，可以与使用者之间形成软接触，进而减轻挤压的疼痛感，增加使用舒适性。
其中，抱臂驱动单元330设于抱紧臂（310、320）的中部，本实施例中的抱臂驱动单元330为直线驱动电机，直线驱动电机的定子和动子分别与抱紧臂的固定端（311、321）和活动端（312、322）连接，通过改变直线驱动电机的动子与定子的相对传动位置，实现对抱紧臂（310、320）延伸长度的调节。
进一步地，该抱臂驱动单元330还可以为液压缸，液压缸的缸体和活塞杆分别与抱紧臂的固定端（311、321）和活动端（312、322）连接，通过改变液压缸的缸体和活塞杆的相对传动位置，实现对抱紧臂（310、320）延伸长度的调节。
另外，在其他实施例中，抱臂驱动单元330也可以为只设置在一个抱紧臂（310或者320）上，而另一抱紧臂的两段之间可以为滑动连接结构，通过一侧抱臂驱动单元330带动另一侧抱紧臂进行滑动，实现对两侧抱紧臂（310、320）延伸长度的调节，进而达到对位于抱紧区域302内使用者888的躯体上半部的抱紧与放松的目的。
进一步优选地，本实施例中的背板200可以设计成弧形结构，抱紧装置300用于将躯体上半部抱紧于弧形背板的凹侧，这种结构的背板200由于适应人体背部的弧形结构，可以在使用者背靠背板200时，增加舒适度。
抱紧装置300用于将使用者888的躯体上半部与背板200抱紧定位（固定在一起），以便第一传动机构400在抱紧装置300抱紧使用者888的躯体上半部的状态下，带动背板200（连同使用者888的躯体上半部一起）相对于基座100向使用者888的背侧翻转，以达到对使用者的筋脊进行调整或者康复训练的目的；具体请参阅图6，图6是图3中筋脊调整及康复训练机器人抱紧使用者状态下进行翻转的侧视示意图。
优选地，在第一传动机构400带动背板200（连同使用者888的躯体上半部一起）相对于基座100向使用者888的背侧翻转的过程中，可以带动使用者888的躯体下半部悬空，进而利用使用者888躯体下半部的重力作用增大对使用者筋脊的拉伸力，这种情况可能会具有较大的拉伸力，但不一定适用于所有使用者，当然，根据不同使用者的情况可以采用不同侧翻角度或者位置，譬如可以采用坐姿使用机器人或者不用躯体下半部悬空等使用情况。
本实施例中优选地，第一传动机构400在带动背板200进行转动的过程中，背板对使用者的躯体上半部产生的加速度介于1倍重力速度和2倍重力加速度之间，这样的加速度范围值可以在满足对使用者的筋脊进行有效调整或者康复训练的情况下，还可以保证不至于因为加速度过大而对筋脊造成伤害。
进一步优选地，为了达到最佳的拉伸效果，第一传动机构400在带动背板200进行转动的过程中，背板200的角加速度设置成使得背板200在1秒钟内转动5-25度，1秒内转动的角度越大则会对使用者的躯体上半部产生越大的加速度，更优选为背板200的角加速度设置成使得背板200在1秒钟内转动10-20度。机器人在使用机器人进行拉伸的过程中具体的角加速度的值可根据使用者的情况进行具体设定。
优选地，请继续参阅图1至图5，该机器人进一步包括第二传动机构500，该第二传动机构500分别与背板200以及抱紧装置300连接，用于相对于背板200调节抱紧装置300的位置，进而调节抱紧装置300对使用者躯体上半部的抱紧位置。第二传动机构500具体用于改变抱紧装置300在背板200的竖直高度方向上的固定位置，以满足不同身高的使用者需求或者时抱紧装置300可以抱紧使用者不同的躯体上半部位置。
在本实施例中，第二传动机构500具体的结构为在背板200的侧边设置多个调节孔，然后利用插销与调节孔配合，实现抱紧装置300与背板200在不同高度位置的配合。另外，在其他实施例中，第二传动机构500还可以为利用驱动单元带动抱紧装置300沿着背板200在高度方向上移动的结构形式，譬如利用齿轮齿条、直线电机等。而关于第二传动机构500其他的结构形式，本领域技术人员可以根据第二传动机构500的功能要求自行选取或设计，此处不再列举并详述。
进一步地，机器人还可以包括第三传动机构700，该第三传动机构700与抱紧装置300连接，用于驱动抱紧装置300的抱紧臂相对于其与背板200的连接位置处转动，进而使抱紧臂向上抬起，方便使用者的躯体上半部进入到所述抱紧区域302内。其中，第三传动机构700可以为力矩电机或者力矩器等，带动抱紧臂（310或者320）绕其与背板200的连接位置处转动。
其中，当使用者以坐姿使用该机器人时，该机器人的基座100上可以进一步包括座椅110，请一并参阅图1和图7，图7是带有座椅结构机器人结构的座椅处于打开使用状态的侧视示意图；设置有座椅110的结构可以使该基座100、背板200以及抱紧装置300设置成允许使用者以坐姿背靠在背板200上并由抱紧装置300抱紧使用者888的躯体上半部。
优选地，本实施例中的座椅110为一与基座100转动连接的折叠座板，在非使用状态下座椅110可转动折叠成紧靠基座的收回状态（如图1中状态）；在使用状态下可折叠打开与基座100呈一定角度（图7中状态），譬如90度，使用者可以坐在上面使用该机器人。当然，本实施例中只是列举出了一种座椅的结构，在其他实施例中可以根据基座100的结构来设计不同的座椅形式，甚至可以为使用其他独立结构板凳的形式，该板凳可以不是机器人的一部分。
该机器人的工作工作过程如下：首先是使用者的躯体上半部置于抱紧区域，然后控制抱紧装置（具体为控制抱臂驱动单元带动抱臂动作）将使用者的躯体上半部与背板抱紧定位，定位抱紧后，控制第一传动机构带动背板相对于所述基座向所述使用者的背侧转动，以结合利用使用者躯体下半部的重力，达到对使用者的筋脊进行调整的目的。其中，抱紧气囊充气将使用者的躯体上半部与背板抱紧定位的具体方法可以为图3中所示：抱紧气囊抱紧于使用者的双手抱后脑、抱后颈、双手交叉抱上臂、抱肩膀状态下的肘关节外侧；或者为图10中的抱紧于使用者的腋下；此时背板贴紧使用者背部，以使使用者的躯体上半部与背板抱紧定位。
另外，该机器人还可以包括控制器以及显示单元等电子结构部分（图中未示），控制器与抱紧装置300、第一传动机构400甚至第二传动机构500（如果第二传动机构500设计需要）电连接，用于控制抱紧装置300以及第一、第二传动机构的运行状态，显示单元与控制器连接，用于显示机器人的运行状态参数等信息；其中，显示单元可以为液晶显示器或者其他具有显示功能的结构形式。
进一步地，机器人上还可以包括输入装置，用于接收用户输入的操作指令。具体地，输入装置可以为操作按键，或触摸屏，或语音识别模块，或手势识别模块等。另外，机器人内部可以设置有通信模块，通信模块与所述控制器连接，用于机器人与外部设备之间通信连接。其中，通信模块可以为有线或者无线的形式，例如无线的蓝牙，射频，wireless等，而有线的形式可以为设置一个用于连接计算机或者手机等控制设备的接口端，通过接口端与外部设备连接，进而由与之连接的控制设备进行控制机器人的动作。
从以上描述不难看出，本发明实施例中的机器人可以为自身结构设置控制器或者其他控制装置，也可以通过有线或者无线的方式与外部控制设备连接，进而形成一个控制的系统，通过外部控制设备来控制机器人的动作。请参阅图9，图9是本发明机器人控制系统一实施例的组成结构示意简图，图中标注1000的为机器人，标注2000的表示为控制设备。其中，控制设备2000可以为手机或者电脑等，可通过手机或者电脑上的APP来实现控制，APP可以提供多种操作模式，包括可调整整筋整脊机器人的翻转幅度、速度以及抱紧装置的抱紧力等参数。
请继续参阅图5，该实施例中机器人的抱紧装置300与背板200之间还设有臂宽调节器600，该臂宽调节器600用于调节抱紧臂（310、320）与背板200两侧边的连接位置，进而起到调节抱紧臂（310、320）内侧横向宽度的目的，使机器人的抱紧装置300可以满足不同肩宽的使用者进行使用。其中，臂宽调节器600的具体结构可以为螺栓、不同厚度的垫片或者驱动伸缩轴等。
相对于现有技术，本发明提供的用于人体的筋脊调整及康复训练机器人，其抱紧装置通过设置抱臂以及抱紧驱动单元，可以将使用者的躯体上半部以直立的状态与背板抱紧定位，然后利用传动机构带动背板相对于基座向使用者的背侧翻转。该机器人的结构简单，可同时对使用者的筋络以及整个脊椎进行调整或者训练；通过控制传动机构的翻转速度即可调节对使用者筋脊调整及康复训练过程的作用力，作用力施加范围大，可在短时间内完成对使用者筋脊调整及康复训练的过程，缩短治疗或训练周期，减少了使用者因治疗时间过长或者治疗姿势不舒适所带来的痛苦。
进一步地，本发明实施例还提供一种用于筋脊调整及康复训练的系统，请参阅图8，图8是本发明用于筋脊调整及康复训练系统一优选实施例的结构组成框图，该系统可以包括云端运算处理中心810以及上述实施例中所述的机器人820等组成单元。
具体地，该云端运算处理中心810与机器人820彼此之间相互通信连接并进行数据交换与共享，实现对机器人820的远端控制及云端数据分析。而关于云端运算处理中心810的具体结构特征，在本领技术人员的理解范围内，此处亦不再赘述。
以上所述仅为本发明的部分实施例，并非因此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效装置或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (19)

  1. 一种用于筋脊调整及康复训练的机器人，其特征在于，所述机器人包括：
    基座；
    背板，设置于所述基座上且与所述基座转动连接；
    抱紧装置，设置于所述背板上，用于在使用者背靠在所述背板上时抱紧所述使用者的躯体上半部；其中，所述抱紧装置包括第一抱紧臂以及第二抱紧臂，所述第一抱紧臂和所述第二抱紧臂分别设于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧与放松；
    第一传动机构，用于在所述抱紧装置抱紧所述使用者的躯体上半部的状态下传动所述背板相对于所述基座旋转。
  2. 根据权利要求1所述的机器人，其特征在于，所述第一抱紧臂和所述第二抱紧臂与所述背板固定连接端的相异端之间通过活动链条连接。
  3. 根据权利要求1所述的机器人，其特征在于，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为直线驱动电机，直线驱动电机的定子和动子分别与抱紧臂的固定端和活动端连接，通过改变直线驱动电机的动子与定子的相对传动位置，实现对抱紧臂延伸长度的调节。
  4. 根据权利要求1所述的机器人，其特征在于，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为液压缸，液压缸的缸体和活塞杆分别与抱紧臂的固定端和活动端连接，通过改变液压缸的缸体和活塞杆的相对传动位置，实现对抱紧臂延伸长度的调节。
  5. 根据权利要求1-4任一项所述的机器人，其特征在于，所述第一抱紧臂和所述第二抱紧臂在所述抱紧区域内的一侧设有软质材料制成的隔垫层。
  6. 根据权利要求1所述的机器人，其特征在于，所述机器人进一步包括第二传动机构，所述第二传动机构分别与所述背板和所述抱紧装置连接，所述第二传动机构用于相对所述背板调节所述抱紧装置的位置，进而调节所述抱紧装置对躯体上半部的抱紧位置。
  7. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括第三传动机构，所述第三传动机构与所述抱紧装置连接，用于驱动所述抱紧装置的抱紧臂相对于其与所述背板的连接位置处转动，进而使抱紧臂向上抬起，方便使用者的躯体上半部进入到所述抱紧区域内。
  8. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括控制器，所述控制器与所述抱紧装置以及所述第一传动机构电连接，用于控制所述抱紧装置以及所述第一传动机构的运行状态。
  9. 根据权利要求8所述的机器人，其特征在于，所述机器人还包括输入装置，用于接收用户输入的操作指令。
  10. 根据权利要求9所述的机器人，其特征在于，所述输入装置包括操作按键，或触摸屏，或语音识别模块，或手势识别模块。
  11. 根据权利要求8所述的机器人，其特征在于，所述机器人还包括通信模块，所述通信模块与所述控制器连接，用于机器人与外部设备之间通信连接。
  12. 一种用于筋脊调整及康复训练的机器人系统，其特征在于，包括如权利要求1-11任一项所述的机器人以及控制设备，所述控制设备与所述机器人通信连接，并控制所述机器人的运行。
  13. 一种权利要求1-11任一项所述机器人的控制方法，其特征在于，所述方法包括：
    在使用者的躯体上半部置于抱紧区域时，控制抱紧装置将使用者的躯体上半部与背板抱紧定位；
    控制第一传动机构带动背板相对于所述基座向所述使用者的背侧转动，以结合利用使用者躯体下半部的重力，达到对使用者的筋脊进行调整的目的。
  14. 一种用于人体直立姿势的筋脊调整及康复训练的系统，其特征在于，所述系统包括云端运算处理中心以及权利要求1-11任一项所述机器人，所述云端运算处理中心与所述机器人进行数据交换与共享，实现所述机器人的远端控制及云端数据分析。
  15. 一种用于筋脊调整及康复训练机器人的抱紧装置，其特征在于，所述抱紧装置设置于机器人背板上，用于在使用者背靠在所述背板上时抱紧所述使用者的躯体上半部；其中，所述抱紧装置包括第一抱紧臂以及第二抱紧臂，所述第一抱紧臂和所述第二抱紧臂分别设于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧与放松。
  16. 根据权利要求15所述的抱紧装置，其特征在于，所述第一抱紧臂和所述第二抱紧臂与所述背板固定连接端的相异端之间通过活动链条连接。
  17. 根据权利要求15所述的抱紧装置，其特征在于，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为直线驱动电机，直线驱动电机的定子和动子分别与抱紧臂的固定端和活动端连接，通过改变直线驱动电机的动子与定子的相对传动位置，实现对抱紧臂延伸长度的调节。
  18. 根据权利要求15所述的抱紧装置，其特征在于，所述抱臂驱动单元设于抱紧臂的中部，所述抱臂驱动单元为液压缸，液压缸的缸体和活塞杆分别与抱紧臂的固定端和活动端连接，通过改变液压缸的缸体和活塞杆的相对传动位置，实现对抱紧臂延伸长度的调节。
  19. 根据权利要求15-18任一项所述的抱紧装置，其特征在于，所述第一抱紧臂和所述第二抱紧臂在所述抱紧区域内的一侧设有软质材料制成的隔垫层。
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