WO2018157488A1 - Muscle, tendon and spine adjustment and rehabilitation training system having physical therapy function, and robot thereof - Google Patents

Muscle, tendon and spine adjustment and rehabilitation training system having physical therapy function, and robot thereof Download PDF

Info

Publication number
WO2018157488A1
WO2018157488A1 PCT/CN2017/086731 CN2017086731W WO2018157488A1 WO 2018157488 A1 WO2018157488 A1 WO 2018157488A1 CN 2017086731 W CN2017086731 W CN 2017086731W WO 2018157488 A1 WO2018157488 A1 WO 2018157488A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
user
physiotherapy
plate
transmission
Prior art date
Application number
PCT/CN2017/086731
Other languages
French (fr)
Chinese (zh)
Inventor
孙冰
Original Assignee
深圳市得道健康管理有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN2017075292 priority Critical
Priority to CNPCT/CN2017/075292 priority
Application filed by 深圳市得道健康管理有限公司 filed Critical 深圳市得道健康管理有限公司
Publication of WO2018157488A1 publication Critical patent/WO2018157488A1/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/37Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising

Abstract

A muscle, tendon and spine adjustment and rehabilitation training system having a physical therapy function, and a robot (820, 1000) thereof. The robot comprises: a base (100), a back plate (200), a holding device (300), a physical therapy device (500) and a first drive mechanism (400). The back plate is arranged on the base and rotatably connected to the base, the holding device is arranged on the back plate and used for holding the upper half of the body of a user (888) when the user leans against the back plate, the physical therapy device is arranged on the back plate and used for performing physical therapy on the back of the user when the user leans against the back plate, and the first drive mechanism is used for driving the back plate to rotate with respect to the base when the holding device holds the upper half of the body of the user. The robot has a simple structure and a variety of functions, simultaneously performs adjustment, training and physical therapy on the muscles, tendons and entire spine of the user, and shortens a time period for treating or training the muscles, tendons and entire spine.

Description

具有理疗功能的筋脊调整及康复训练系统及其机器人 Ridge adjustment and rehabilitation training system with physiotherapy function and its robot
【技术领域】[Technical Field]
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,具体是涉及一种具有理疗功能的筋脊调整及康复训练系统及其机器人。The invention relates to the technical field of medical or training equipment for human spine and tendons, in particular to a ridge adjustment and rehabilitation training system with physiotherapy function and a robot thereof.
【背景技术】 【Background technique】
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。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.
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。 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.
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。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.
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。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]
本发明实施例提供一种具有理疗功能的筋脊调整及康复训练系统及其机器人,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。The embodiment of the invention provides a ridge adjustment and rehabilitation training system with a physiotherapy function and a robot thereof, so as to solve the technical problem that the treatment time of the spine rehabilitation treatment device in the prior art is too long and the function is single.
为解决上述问题,本发明实施例一方面提供了一种具有理疗功能的筋脊调整及康复训练机器人,其特征在于,所述机器人包括:In order to solve the above problems, an embodiment of the present invention provides a ridge adjustment and rehabilitation training robot having a physiotherapy function, wherein the robot includes:
基座;Pedestal
背板,设置于所述基座上且与所述基座转动连接;a back plate disposed on the base and rotatably connected to the base;
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; a holding device disposed on the back plate for holding the upper half of the user's body when the user is leaning against the back plate;
理疗装置,设置于所述背板上,用于在使用者背靠在所述背板上时对所述使用者的背部进行理疗;a physiotherapy device disposed on the backboard for physiotherapy the back of the user when the user is leaning against the backboard;
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。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.
根据本发明一优选实施例,所述机器人还包括第二传动机构,所述第二传动机构分别与所述背板以及所述理疗装置连接,所述第二传动机构用于相对所述背板调节所述理疗装置的位置,进而调节所述理疗装置对使用者背部的理疗位置。According to a preferred embodiment of the present invention, the robot further includes a second transmission mechanism, the second transmission mechanism being respectively connected to the backboard and the physiotherapy device, and the second transmission mechanism is for opposing the backboard The position of the physiotherapy device is adjusted to adjust the physiotherapy position of the physiotherapy device to the back of the user.
根据本发明一优选实施例,所述理疗装置包括设置在所述背板上的按摩机构。According to a preferred embodiment of the invention, the physiotherapy device comprises a massaging mechanism disposed on the backing plate.
根据本发明一优选实施例,所述按摩机构为设置在背板上的一个或者多个凸点结构。According to a preferred embodiment of the invention, the massaging mechanism is one or more bump structures disposed on the backing plate.
根据本发明一优选实施例,所述按摩机构包括设置在背板上的一个或者多个电动凸点结构。In accordance with a preferred embodiment of the present invention, the massaging mechanism includes one or more electric bump structures disposed on the backing plate.
根据本发明一优选实施例,所述按摩机构包括设置在背板上的偶数个电动凸点结构,且电动凸点结构对称的分布在背板该侧面的中心线的两侧。In accordance with a preferred embodiment of the present invention, the massaging mechanism includes an even number of electric bump structures disposed on the backing plate, and the electric bump structures are symmetrically distributed on both sides of the centerline of the side of the backing plate.
根据本发明一优选实施例,按摩机构包括四个电动凸点结构,所述四个电动凸点结构呈矩阵排列,且两两对称的分布在背板该侧面的中心线的两侧。According to a preferred embodiment of the present invention, the massaging mechanism includes four electric bump structures, and the four electric bump structures are arranged in a matrix, and the two sides are symmetrically distributed on both sides of the center line of the side of the backboard.
根据本发明一优选实施例,所述电动凸点结构的结构之间的相对位置可调。According to a preferred embodiment of the invention, the relative position between the structures of the electric bump structure is adjustable.
根据本发明一优选实施例,所述机器人进一步包括第三传动机构,所述第三传动机构分别与所述背板和所述抱紧装置连接,所述第三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。According to a preferred embodiment of the present invention, the robot further includes a third transmission mechanism respectively coupled to the backboard and the holding device, the third 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.
根据本发明一优选实施例,所述理疗装置还包括设置在所述背板上的加热机构和\电子艾灸元件。In accordance with a preferred embodiment of the present invention, the physiotherapy device further includes a heating mechanism and an electronic moxibustion component disposed on the backing plate.
根据本发明一优选实施例,所述加热机构为设置在背板上的加热片、红外加热器或者加热灯。According to a preferred embodiment of the invention, the heating mechanism is a heating plate, an infrared heater or a heating lamp provided on the backboard.
根据本发明一优选实施例,所述理疗装置还包括设置在所述背板上的加热机构和\电子艾灸元件。In accordance with a preferred embodiment of the present invention, the physiotherapy device further includes a heating mechanism and an electronic moxibustion component disposed on the backing plate.
根据本发明一优选实施例,所述加热机构为设置在背板上的加热片、红外加热器或者加热灯。According to a preferred embodiment of the invention, the heating mechanism is a heating plate, an infrared heater or a heating lamp provided on the backboard.
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。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.
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。According to a preferred embodiment of the invention, the robot further comprises input means for receiving an operation command input by the user.
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。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.
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。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.
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;所述理疗装置设于所述背板凹侧。According to a preferred embodiment of the present invention, the back plate has an arc shape, and the holding device is configured to hold the upper half of the body to the concave side of the curved back plate; the physiotherapy device is disposed on the back plate concave side.
根据本发明一优选实施例,所述机器人进一步包括座椅以及颈靠板;所述基座、所述背板以及所述抱紧装置设置成允许所述使用者以坐姿背靠在所述背板上并由所述抱紧装置抱紧所述使用者的躯体上半部;所述颈靠板与所述背板的顶侧连接,用于在使用者背靠在所述背板上时抵靠使用者的后脑或者后颈位置。According to a preferred embodiment of the present invention, the robot further includes a seat and a neckrest; the base, the backboard, and the clasping device are configured to allow the user to lean back against the back in a sitting position The upper half of the body of the user is held by the holding device on the board; the neck plate is connected to the top side of the back board for when the user is leaning against the back board Abut the user's back or back neck position.
本发明实施例进一步提供一种用于人体直立姿势的具有理疗功能的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。The embodiment of the present invention further provides a robot system for ridge adjustment and rehabilitation training with a physiotherapy function for an upright posture of a human body, comprising the robot and the control device according to any of the above embodiments, the control device and the device The robot communication connection is made and the operation of the robot is controlled.
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具有理疗功能的筋脊调整及康复训练系统,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的机器人,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。In order to solve the above technical problem, an embodiment of the present invention further provides a ridge adjustment and rehabilitation training system with a physiotherapy function for an upright posture of a human body, the system comprising a cloud computing processing center and 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.
为解决上述技术问题,本发明实施例进一步提供一种权机器人的控制方法,所述方法包括:To solve the above technical problem, an embodiment of the present invention further provides a method for controlling a weighted robot, where the method includes:
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;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;
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。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.
根据本发明一优选实施例,所述方法还包括控制理疗装置运行,以对使用者的背部进行理疗。According to a preferred embodiment of the invention, the method further comprises controlling the operation of the physiotherapy device to physiotherapy the back of the user.
进一步地,本发明实施例又提供一种上述实施例中机器人的控制方法,所述方法包括:Further, the embodiment of the present invention further provides a control method of the robot in the foregoing embodiment, where the method includes:
在使用者的躯体上半部倚靠在设置理疗装置一侧的背板上时,控制理疗装置运行,以对使用者的背部进行理疗。When the upper half of the user's body rests on the back panel on the side where the physiotherapy device is placed, the physiotherapy device is controlled to perform physiotherapy on the back of the user.
相对于现有技术,本发明提供的具有理疗功能的筋脊调整及康复训练系统及其机器人,其抱紧装置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,其理疗装置可以对使用者的背部进行理疗。该机器人的结构简单,功能多样,可同时对使用者的筋络以及整个脊椎进行调整、训练以及理疗,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。Compared with the prior art, the present invention provides a physiotherapy function rib adjustment and rehabilitation training system and a robot thereof, wherein the holding device can hold the upper part of the user's body in an upright state and the back plate, and then The transmission mechanism drives the backboard to be turned over to the back side of the user with respect to the base, and the physiotherapy device can perform physical therapy on the back of the user. The robot has a simple structure and various functions, and can simultaneously adjust, train, and physiotherapy the user's tendons and the entire spine, shortening the cycle time of treatment or training for the tendons and the entire spine, and reducing the user's treatment time. Too long or the pain caused by uncomfortable posture.
【附图说明】 [Description of the Drawings]
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。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.
图1是本发明具有理疗功能的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;1 is a front elevational view showing the overall structure of a preferred embodiment of a ridge adjustment and rehabilitation training robot having a physiotherapy function according to the present invention;
图2是图1实施例中机器人带有局部剖视的整体结构示意图;Figure 2 is a schematic view showing the overall structure of the robot with a partial cross-sectional view in the embodiment of Figure 1;
图3是图1实施例中具有理疗功能的筋脊调整及康复训练机器人的侧视结构示意简图;3 is a schematic side view showing a side view structure of a ridge adjustment and rehabilitation training robot having a physiotherapy function in the embodiment of FIG. 1;
图4是图1实施例中具有理疗功能的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结构简图;Figure 4 is a schematic side view showing a state of the ridge adjustment and rehabilitation training robot holding the physiotherapy function in the embodiment of Figure 1;
图5是图1实施例中具有理疗功能的筋脊调整及康复训练机器人的俯视示意图;Figure 5 is a top plan view of the ridge adjustment and rehabilitation training robot having the physiotherapy function in the embodiment of Figure 1;
图6是图4中具有理疗功能的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;Figure 6 is a side elevational view showing the ridge adjustment of the physiotherapy function and the reversal of the rehabilitation training robot in the state of the user;
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;Figure 7 is a side elevational view of the seat with the seat structure robot structure in an open state of use;
图8是本发明用于人体直立姿势的具有理疗功能的筋脊调整及康复训练系统一优选实施例的结构组成框图;Figure 8 is a block diagram showing the structural composition of a preferred embodiment of a ridge adjustment and rehabilitation training system having a physiotherapy function for a human body upright posture;
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;9 is a schematic diagram showing the structure of an embodiment of a robot control system of the present invention;
图10是图1实施例中具有理疗功能的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结构简图。Fig. 10 is a schematic side elevational view showing the structure of the ridge having the physiotherapy function and the state in which the rehabilitation training robot holds the user in the embodiment of Fig. 1.
【具体实施方式】【detailed description】
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。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.
请一并参阅图1至图3,图1是本发明具有理疗功能的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实施例中机器人带有局部剖视的整体结构示意图,以及图3是图1实施例中具有理疗功能的筋脊调整及康复训练机器人的侧视结构示意简图,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以及理疗装置500。1 to FIG. 3, FIG. 1 is a schematic front view of a preferred embodiment of a ridge-adjusting and rehabilitation training robot having a physiotherapy function according to the present invention, and FIG. 2 is a partial cross-sectional view of the robot in the embodiment of FIG. FIG. 3 is a schematic diagram showing a side view of a ridge adjustment and rehabilitation training robot having a physiotherapy function in the embodiment of FIG. 1. The robot includes, but is not limited to, the following structure: a base 100, a back plate 200, The device 300 and the first transmission mechanism 400 and the physiotherapy device 500 are held.
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。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.
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。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.
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。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.
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。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.
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4和图10,图4是图1实施例中具有理疗功能的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结构简图,图10是图1实施例中具有理疗功能的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结构简图;图中的标注888为使用者,图中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。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. 4 and FIG. 10 together. FIG. 4 is a schematic side view showing a state of the ridge ridge adjustment and rehabilitation training robot with a physiotherapy function in the embodiment of FIG. 1. FIG. 10 is a schematic diagram of FIG. In the example, the ridge adjustment with the physiotherapy function and the side view schematic structure of the rehabilitation training robot holding the user in another state; the symbol 888 in the figure is the user, and the arrow in the figure indicates that the first transmission mechanism 400 is used. The direction in which the person turns to the back side.
优选地,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。请参阅图5,图5是图1实施例中具有理疗功能的筋脊调整及康复训练机器人的俯视示意图。Preferably, the back plate 200 can 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. The back plate 200 of this structure is adapted to the curved structure of the back of the human body. It can increase comfort when the user backs up the board 200. Please refer to FIG. 5. FIG. 5 is a top plan view of the ridge adjustment and rehabilitation training robot with physiotherapy function in the embodiment of FIG. 1.
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。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.
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4中只是示意出了使用者处于站立状态的情况。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.
其中,抱紧装置300的结构可以为伸缩抱臂或者抱紧绳带等结构,而关于抱紧装置300的具体结构形式,此处不再列举详述,总之抱紧装置300的作用就是将使用者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4中具有理疗功能的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。The structure of the holding device 300 may be a structure such as a telescopic arm or a cord. Regarding the specific structure of the holding device 300, detailed description is not given here. In general, the function of the holding device 300 is to be used. The upper half of the body 888 is positioned and fixed (fixed together) with the backboard 200, so that the first transmission mechanism 400 drives the backboard 200 in a state where the holding device 300 holds the upper half of the body of the user 888 ( The first side of the body of the user 888 is turned over with respect to the base 100 to the back side of the user 888 for the purpose of adjusting or rehabilitating the user's ridge; please refer to FIG. 6 and FIG. 6 for details. Fig. 4 is a side elevational view showing the ridge adjustment of the physiotherapy function and the reversal of the rehabilitation training robot in the state of being held by the user.
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。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.
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。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.
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。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.
请继续参阅图2和图5,理疗装置500设置于背板200上,具体为设于背板200凹侧,用于在使用者背靠在背板200上时对使用者的背部进行理疗。其中,理疗装置500可以包括设置在背板200上的按摩机构、加热机构(图中未标示)等。2 and FIG. 5, the physiotherapy device 500 is disposed on the back panel 200, specifically on the concave side of the back panel 200, for physiotherapy of the back of the user when the user rests on the back panel 200. The physiotherapy device 500 may include a massage mechanism, a heating mechanism (not shown), and the like disposed on the backboard 200.
具体而言,该按摩机构可以为一个或者多个凸点结构。凸点结构可以为静止固定在背板200上的结构形式,也可以为电动凸点结构,而本实施例中就为电动凸点结构。而该加热机构可以为嵌设在背板上的加热片、红外加热器或者加热灯等结构,起到对使用者背部穴位加热的目的。另外,该理疗装置500还可以包括设置在背板上的电子艾灸元件等机构,通过设置上述元件可以在对使用者进行按摩的同时用于对使用者背部的穴位进行加热或者艾灸等理疗过程,当然,加热机构以及艾灸元件也可以直接设置在凸点结构中。In particular, the massaging mechanism can be one or more bump structures. The bump structure may be a structure fixedly fixed on the back plate 200, or may be an electric bump structure, and in this embodiment, it is an electric bump structure. The heating mechanism may be a heating piece, an infrared heater or a heating lamp embedded in the back plate to heat the acupuncture points on the back of the user. In addition, the physiotherapy device 500 may further include an electronic moxibustion component or the like disposed on the back plate, and the above-mentioned components may be used to heat the acupuncture points on the back of the user or physiotherapy such as moxibustion while massaging the user. The process, of course, the heating mechanism as well as the moxibustion elements can also be placed directly in the bump structure.
优选地,本实施例中按摩机构包括偶数个电动凸点结构,且电动凸点结构对称的分布在背板200侧面的中心线的两侧。进一步地,本实施例机器人的按摩机构优选包括四个电动凸点结构,四个电动凸点结构呈矩阵排列,且两两对称的分布在背板200该侧面的中心线的两侧。即可以为电动按摩虎的结构形式。另外,在其他实施例中,多个电动凸点结构之间的相对位置还可以设置为可调,即可以单独改变电动凸点结构的位置,这部分结构特征此处不再详述。Preferably, the massage mechanism in the embodiment includes an even number of electric bump structures, and the electric bump structures are symmetrically distributed on both sides of the center line of the side of the back plate 200. Further, the massage mechanism of the robot of the embodiment preferably includes four electric bump structures, and the four electric bump structures are arranged in a matrix, and the two pairs are symmetrically distributed on both sides of the center line of the side of the back plate 200. That is, it can be a structural form of an electric massage tiger. In addition, in other embodiments, the relative positions between the plurality of electric bump structures may also be set to be adjustable, that is, the position of the electric bump structure may be individually changed, and this partial structural feature will not be described in detail herein.
其中,该侧面是指背板200设置理疗装置500的平面。该种理疗装置500的设置形式的目的是使理疗装置500与使用者背部的颈椎位置相对应,以用于对颈椎两侧的“足太阳膀胱经”进行理疗。当然,在其他实施例中,理疗装置500可以设置在背板200的不同位置,以对使用者背部的其他位置进行理疗。Here, the side surface refers to a plane in which the backing plate 200 is provided with the physiotherapy device 500. The purpose of the arrangement of the physiotherapy device 500 is to align the physiotherapy device 500 with the position of the cervical spine on the back of the user for physiotherapy of the "foot-to-sun bladder" on both sides of the cervical spine. Of course, in other embodiments, the physiotherapy device 500 can be disposed at various locations on the backplate 200 to physiotherapy other locations on the back of the user.
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,抱紧装置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4中所示:抱紧装置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。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 used to hold the user's upper body and the back plate in a tight position, and after positioning and holding, the control is performed. A 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 for the holding device to hold the upper half of the user's body and the back plate can be as shown in FIG. 4: the holding device is held tightly on the back of the user's hands, the back neck, and the hands are crossed. The outer side of the elbow joint in the upper arm and the shoulder; or the armpit of the user in Fig. 10; the back plate is in close contact with the user's back so that the upper part of the user's body is tightly held with the back plate. Positioning.
需要说明的是,本发明实施例中的理疗装置500对使用者的理疗作用与背侧翻转的筋脊调整其实是机器人的两个功能,因此,理疗装置500与背侧翻转的筋脊调整可以为单独进行的两个过程(这里需要补充一下,在利用抱紧装置将使用者抱紧于背板时,可以一定程度上提高理疗装置500对使用者背部的理疗作用),使用者可以单独使用任何一种功能,当然也可以同时使用两个功能,即两个功能可以同时运行。It should be noted that the physiotherapy effect of the physiotherapy device 500 in the embodiment of the present invention and the adjustment of the ribs on the back side are actually two functions of the robot. Therefore, the physiotherapy device 500 and the ribs adjusted on the back side can be adjusted. For the two separate processes (required here, when the user is hugged on the backboard by using the clasping device, the physiotherapy effect of the physiotherapy device 500 on the back of the user can be improved to some extent), and the user can use it alone. Any function, of course, can also use two functions at the same time, that is, two functions can run simultaneously.
优选地,该机器人还可以包括第二传动机构600,该第二传动机构600分别与背板200以及理疗装置500连接,该第二传动机构600用于相对背板200调节理疗装置500的位置,本实施例中为调节相对于背板200的高度位置,进而调节理疗装置500对使用者背部的理疗位置。其中,第二传动机构600可以为直线电机、齿轮齿条或者链轮链条的结构形式,在本领域技术人员的理解范围内,此处不再一一列举。Preferably, the robot may further include a second transmission mechanism 600, which is respectively connected to the backboard 200 and the physiotherapy apparatus 500, and the second transmission mechanism 600 is used to adjust the position of the physiotherapy apparatus 500 with respect to the backboard 200, In this embodiment, the height position relative to the backboard 200 is adjusted, thereby adjusting the physical therapy position of the physiotherapy device 500 to the back of the user. The second transmission mechanism 600 may be a linear motor, a rack-and-pinion or a sprocket chain. The scope of the understanding of those skilled in the art is not listed here.
进一步地,请继续参阅图1-图3,本实施例中的机器人还包括第三传动机构700,该第三传动机构700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。第三传动机构700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。Further, referring to FIG. 1 to FIG. 3, the robot in this embodiment further includes a third transmission mechanism 700, which is respectively connected to the backboard 200 and the clasping device 300 for relative to the backboard. 200 adjusts the position of the clasp device 300, thereby adjusting the gripping position of the clasp device 300 to the upper half of the user's body. The third transmission mechanism 700 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.
在本实施例中,第三传动机构700具体的结构可以为在背板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,第三传动机构700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等,而关于第三传动机构700其他的结构形式,,本领域技术人员可以根据第三传动机构700的功能要求自行选取或设计,此处不再列举并详述。In this embodiment, the third transmission mechanism 700 may be 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. Cooperation. In addition, in other embodiments, the third transmission mechanism 700 may also be a structural form or the like that moves the holding device 300 along the back plate 200 in the height direction by using the driving unit, and other structural forms regarding the third transmission mechanism 700. Those skilled in the art can select or design according to the functional requirements of the third transmission mechanism 700, which will not be enumerated and detailed herein.
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。另外,图7中虚线箭头表示第三传动机构700可以带动抱紧装置300沿着背板200在高度方向上移动。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. In addition, the dotted arrow in FIG. 7 indicates that the third transmission mechanism 700 can drive the holding device 300 to move in the height direction along the backing plate 200.
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。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.
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600、第三传动机构700(如果第二、第三传动机构设计需要)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。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 600, and the third transmission mechanism 700 (if The second and third transmission mechanisms are required to be electrically connected to control the running 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 parameters of the robot; The display unit may be a liquid crystal display or other structural form having a display function.
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。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.
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。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.
相对于现有技术,本发明提供的具有理疗功能的筋脊调整及康复训练系统及其机器人,其抱紧装置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,其理疗装置可以对使用者的背部进行理疗。该机器人的结构简单,功能多样,可同时对使用者的筋络以及整个脊椎进行调整、训练以及理疗,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。Compared with the prior art, the present invention provides a physiotherapy function ridge adjustment and rehabilitation training system and a robot thereof, wherein the holding device can hold the upper part of the user's body in an upright state and the back plate, and then The transmission mechanism drives the backboard to be turned over to the back side of the user with respect to the base, and the physiotherapy device can perform physical therapy on the back of the user. The robot has a simple structure and various functions, and can simultaneously adjust, train, and physiotherapy the user's tendons and the entire spine, shortening the cycle time of treatment or training for the tendons and the entire spine, and reducing the user's treatment time. Too long or the pain caused by uncomfortable posture.
进一步地,本发明实施例还提供一种用于人体直立姿势的具有理疗功能的筋脊调整及康复训练系统,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。Further, an embodiment of the present invention further provides a ridge adjustment and rehabilitation training system with a physiotherapy function for an upright posture of a human body. Please refer to FIG. 8. FIG. 8 is a preferred embodiment of the ridge adjustment and rehabilitation training system of the present invention. A block diagram of the structural composition of the embodiment may include a cloud computing processing center 810 and a component unit such as the robot 820 described in the above embodiment.
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。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.
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。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 (19)

  1. 一种具有理疗功能的筋脊调整及康复训练机器人,其特征在于,所述机器人包括:A ridge adjustment and rehabilitation training robot with physiotherapy function, characterized in that the robot comprises:
    基座;Pedestal
    背板,设置于所述基座上且与所述基座转动连接;a back plate disposed on the base and rotatably connected to the base;
    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; a holding device disposed on the back plate for holding the upper half of the user's body when the user is leaning against the back plate;
    理疗装置,设置于所述背板上,用于在使用者背靠在所述背板上时对所述使用者的背部进行理疗;a physiotherapy device disposed on the backboard for physiotherapy the back of the user when the user is leaning against the backboard;
    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。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.
  2. 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二传动机构,所述第二传动机构分别与所述背板以及所述理疗装置连接,所述第二传动机构用于相对所述背板调节所述理疗装置的位置,进而调节所述理疗装置对使用者背部的理疗位置。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 physiotherapy device, said second transmission mechanism being for Adjusting the position of the physiotherapy device relative to the backing plate, thereby adjusting the physiotherapy position of the physiotherapy device to the back of the user.
  3. 根据权利要求1-2任一项所述的机器人,其特征在于,所述理疗装置包括设置在所述背板上的按摩机构。A robot according to any one of claims 1 to 2, wherein the physiotherapy device comprises a massaging mechanism disposed on the backing plate.
  4. 根据权利要求3所述的机器人,其特征在于,所述按摩机构为设置在背板上的一个或者多个凸点结构。The robot of claim 3 wherein said massaging mechanism is one or more bump structures disposed on the backing plate.
  5. 根据权利要求4所述的机器人,其特征在于,所述按摩机构包括设置在背板上的一个或者多个电动凸点结构。The robot of claim 4 wherein said massaging mechanism comprises one or more electric bump structures disposed on the backing plate.
  6. 根据权利要求5所述的机器人,其特征在于,所述按摩机构包括设置在背板上的偶数个电动凸点结构,且电动凸点结构对称的分布在背板该侧面的中心线的两侧。The robot according to claim 5, wherein the massaging mechanism comprises an even number of electric bump structures disposed on the back plate, and the electric bump structure is symmetrically distributed on both sides of the center line of the side of the back plate .
  7. 根据权利要求6所述的机器人,其特征在于,按摩机构包括四个电动凸点结构,所述四个电动凸点结构呈矩阵排列,且两两对称的分布在背板该侧面的中心线的两侧。The robot according to claim 6, wherein the massage mechanism comprises four electric bump structures, the four electric bump structures are arranged in a matrix, and the two pairs are symmetrically distributed on the center line of the side of the back plate. On both sides.
  8. 根据权利要求6所述的机器人,其特征在于,所述电动凸点结构的结构之间的相对位置可调。The robot according to claim 6, wherein the relative position between the structures of the electric bump structures is adjustable.
  9. 根据权利要求3所述的机器人,其特征在于,所述理疗装置还包括设置在所述背板上的加热机构和\或电子艾灸元件。The robot of claim 3, wherein the physiotherapy device further comprises a heating mechanism and/or an electronic moxibustion element disposed on the backing plate.
  10. 根据权利要求9所述的机器人,其特征在于,所述加热机构为设置在背板上的加热片、红外加热器或者加热灯。The robot according to claim 9, wherein said heating means is a heater chip, an infrared heater or a heat lamp provided on the backboard.
  11. 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。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.
  12. 根据权利要求11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。The robot according to claim 11, wherein said robot further comprises input means for receiving an operation command input by the user.
  13. 根据权利要求12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。The robot according to claim 12, wherein the input means comprises an operation button, or a touch screen, or a voice recognition module, or a gesture recognition module.
  14. 根据权利要求11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。The robot according to claim 11, 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.
  15. 一种用于人体直立姿势的具有理疗功能的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1-14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。A robotic system for ridge adjustment and rehabilitation training with a physiotherapy function for an upright posture of a human body, comprising the robot and the control device according to any one of claims 1 to 14, the control device and the The robot communication connection is made and the operation of the robot is controlled.
  16. 一种用于人体直立姿势的具有理疗功能的筋脊调整及康复训练系统,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1-14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。A ridge-adjusting and rehabilitation training system with a physiotherapy function for an upright posture of a human body, characterized in that the system includes a cloud computing processing center and the robot according to any one of claims 1 to 14, the cloud computing processing The center exchanges and shares data with the robot to implement remote control and cloud data analysis of the robot.
  17. 一种权利要求1-14任一项所述机器人的控制方法,其特征在于,所述方法包括:A control method for a robot according to any one of claims 1 to 14, characterized in that the method comprises:
    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;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;
    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。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.
  18. 根据权利要求17所述的控制方法,其特征在于,所述方法还包括控制理疗装置运行,以对使用者的背部进行理疗。The control method according to claim 17, wherein the method further comprises controlling the operation of the physiotherapy device to perform physiotherapy on the back of the user.
  19. 一种权利要求1-14任一项所述机器人的控制方法,其特征在于,所述方法包括:A control method for a robot according to any one of claims 1 to 14, characterized in that the method comprises:
    在使用者的躯体上半部倚靠在设置理疗装置一侧的背板上时,控制理疗装置运行,以对使用者的背部进行理疗。 When the upper half of the user's body rests on the back panel on the side where the physiotherapy device is placed, the physiotherapy device is controlled to perform physiotherapy on the back of the user.
PCT/CN2017/086731 2017-03-01 2017-05-31 Muscle, tendon and spine adjustment and rehabilitation training system having physical therapy function, and robot thereof WO2018157488A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2017075292 2017-03-01
CNPCT/CN2017/075292 2017-03-01

Publications (1)

Publication Number Publication Date
WO2018157488A1 true WO2018157488A1 (en) 2018-09-07

Family

ID=63369574

Family Applications (7)

Application Number Title Priority Date Filing Date
PCT/CN2017/086733 WO2018157490A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and control method therefor
PCT/CN2017/086728 WO2018157485A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof
PCT/CN2017/086732 WO2018157489A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof
PCT/CN2017/086731 WO2018157488A1 (en) 2017-03-01 2017-05-31 Muscle, tendon and spine adjustment and rehabilitation training system having physical therapy function, and robot thereof
PCT/CN2017/086734 WO2018157491A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot thereof, and usage method
PCT/CN2017/086729 WO2018157486A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof
PCT/CN2017/086730 WO2018157487A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof

Family Applications Before (3)

Application Number Title Priority Date Filing Date
PCT/CN2017/086733 WO2018157490A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and control method therefor
PCT/CN2017/086728 WO2018157485A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof
PCT/CN2017/086732 WO2018157489A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof

Family Applications After (3)

Application Number Title Priority Date Filing Date
PCT/CN2017/086734 WO2018157491A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot thereof, and usage method
PCT/CN2017/086729 WO2018157486A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof
PCT/CN2017/086730 WO2018157487A1 (en) 2017-03-01 2017-05-31 System for muscle, tendon and spine adjustment and rehabilitation training, robot, and holding device thereof

Country Status (1)

Country Link
WO (7) WO2018157490A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2722402B1 (en) * 1994-07-18 1997-04-04 Philippe Baron D Traction device, particularly for controlling back pain
US6685658B1 (en) * 1999-04-07 2004-02-03 Balgrist/Schweiz. Paraplegikerzentrum Device and method for a locomotion therapy
CN2850573Y (en) * 2005-12-26 2006-12-27 李富安 Traction table with massaging function
CN204636907U (en) * 2015-02-13 2015-09-16 青岛市中心医院 A kind of spinal surgery traction chair
CN106074087A (en) * 2016-07-07 2016-11-09 张莉 A kind of multi-functional Pain Management nursing device
KR20160143402A (en) * 2015-06-05 2016-12-14 유장석 Backbone Stretching Device

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2692796B1 (en) * 1992-06-25 1997-03-07
JPH11221257A (en) * 1998-02-06 1999-08-17 Tokyo Kaseihin Co Ltd Chair for treating lumbago
CN101244008B (en) * 2008-03-17 2010-12-08 中国人民解放军第四军医大学 Spine function rehabilitation bed for flying personnel
US8146599B2 (en) * 2008-06-17 2012-04-03 Civco Medical Instruments Co., Inc. Patient positioning system
KR20120014652A (en) * 2010-08-10 2012-02-20 최지환 Backbone correcting chair with body weighting function
KR102122856B1 (en) * 2013-12-17 2020-06-15 삼성전자주식회사 A walk-assistive apparatus and a method for controlling the walk-assistive apparatus
CN103961241B (en) * 2014-05-17 2016-01-13 大连理工大学 The controlled lumbar treatment chair of multiple degrees of freedom
CN104083263A (en) * 2014-07-17 2014-10-08 德清县人民医院 Safety bed bag used for medical bed
CN104382681A (en) * 2014-12-15 2015-03-04 广西大学 Spinal disease prevention and rehabilitation device
CN204379516U (en) * 2015-01-08 2015-06-10 河北联合大学 Electronic restraining belt
CN205359738U (en) * 2015-12-23 2016-07-06 盛加玲 Diversified electronic cervical vertebra draw gear
CN106344342A (en) * 2016-08-30 2017-01-25 向红 Spine restoration and training rehabilitation apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2722402B1 (en) * 1994-07-18 1997-04-04 Philippe Baron D Traction device, particularly for controlling back pain
US6685658B1 (en) * 1999-04-07 2004-02-03 Balgrist/Schweiz. Paraplegikerzentrum Device and method for a locomotion therapy
CN2850573Y (en) * 2005-12-26 2006-12-27 李富安 Traction table with massaging function
CN204636907U (en) * 2015-02-13 2015-09-16 青岛市中心医院 A kind of spinal surgery traction chair
KR20160143402A (en) * 2015-06-05 2016-12-14 유장석 Backbone Stretching Device
CN106074087A (en) * 2016-07-07 2016-11-09 张莉 A kind of multi-functional Pain Management nursing device

Also Published As

Publication number Publication date
WO2018157491A1 (en) 2018-09-07
WO2018157486A1 (en) 2018-09-07
WO2018157485A1 (en) 2018-09-07
WO2018157487A1 (en) 2018-09-07
WO2018157489A1 (en) 2018-09-07
WO2018157490A1 (en) 2018-09-07

Similar Documents

Publication Publication Date Title
Calabrò et al. Robotic gait rehabilitation and substitution devices in neurological disorders: where are we now?
Wu et al. A cable-driven locomotor training system for restoration of gait in human SCI
KR100436899B1 (en) Stretch Therapy Apparatus
CA2775086C (en) Rehabilitative training devices for use by stroke patients
Volpe et al. Intensive sensorimotor arm training mediated by therapist or robot improves hemiparesis in patients with chronic stroke
AU2008356483B2 (en) Portable device for upper limb rehabilitation
WO2018004234A1 (en) Combined diagnosis and treatment device capable of simultaneous diagnostic imaging and treatment of meibomian gland diseases
Hesse et al. Robot-assisted arm trainer for the passive and active practice of bilateral forearm and wrist movements in hemiparetic subjects
US7364555B1 (en) Self-assisted shoulder passive range of motion apparatus
US7074166B2 (en) Exercise apparatus and method
US6007500A (en) Shoulder, rotator cuff, and elbow stretching machine
WO2010085111A2 (en) Strengthening and rehabilitation exercise apparatus
Valachi et al. Preventing musculoskeletal disorders in clinical dentistry: strategies to address the mechanisms leading to musculoskeletal disorders
US20060247095A1 (en) Method and apparatus for promoting nerve regeneration in paralyzed patients
US20080070210A1 (en) System and methods for promoting health
US5840001A (en) Therapy exercise table
Riener Technology of the robotic gait orthosis Lokomat
US8292837B2 (en) Combination exercise-massage device
WO2013115615A1 (en) Cervical vertebra retractor
KR20070006508A (en) The lower body fixing device of the whole body and backbone correctable massager
US5040522A (en) Passive flexion chair for physical therapy
CN201005935Y (en) Multi-posture ectoskeleton lower limb rehabilitation exercising robot
JP2003511169A (en) Apparatus and method for promoting exercise and reducing back pain
EP1011595A4 (en) Methods and equipment for treating or preventing muscle pain or injury
KR100902602B1 (en) Lumbar joint rehabilitation sporting goods

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17899152

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase in:

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17899152

Country of ref document: EP

Kind code of ref document: A1