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

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

Ridge adjustment and rehabilitation training system with physiotherapy function and its robot

[Technical Field]

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.

 【Background technique】

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

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

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

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

 [Summary of the Invention]

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.

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:

Pedestal

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

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;

a physiotherapy device disposed on the backboard for physiotherapy the back of the user when the user is leaning against the backboard;

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

According to a preferred embodiment of the present invention, the 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.

According to a preferred embodiment of the invention, the physiotherapy device comprises a massaging mechanism disposed on the backing plate.

According to a preferred embodiment of the invention, the massaging mechanism is one or more bump structures disposed on the backing plate.

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.

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.

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.

According to a preferred embodiment of the invention, the relative position between the structures of the electric bump structure is adjustable.

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.

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.

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.

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.

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.

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

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

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

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

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.

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.

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.

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.

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:

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.

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.

Further, the embodiment of the present invention further provides a control method of the robot in the foregoing embodiment, where the method includes:

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.

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.

 [Description of the Drawings]

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

1 is a front elevational view showing the overall structure of a preferred embodiment of a ridge adjustment and rehabilitation training robot having a physiotherapy function according to the present invention;

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;

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;

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;

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;

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;

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 structural composition of a preferred embodiment of a ridge adjustment and rehabilitation training system having a physiotherapy function for a human body upright posture;

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

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.

【detailed description】

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

1 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.

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

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

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

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

The holding device 300 is disposed on the backboard 200 for holding the upper half of the user's body when the user is leaning against the backboard 200. Please refer to FIG. 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.

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.

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

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

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.

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

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

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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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

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.

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.

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

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

Claims (19)

1. A ridge adjustment and rehabilitation training robot with physiotherapy function, characterized in that the robot comprises:

   Pedestal

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

   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;

   a physiotherapy device disposed on the backboard for physiotherapy the back of the user when the user is leaning against the backboard;

   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. 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. 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. The robot of claim 3 wherein said massaging mechanism is one or more bump structures disposed on the backing plate.
5. The robot of claim 4 wherein said massaging mechanism comprises one or more electric bump structures disposed on the backing plate.
6. 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. 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. The robot according to claim 6, wherein the relative position between the structures of the electric bump structures is adjustable.
9. 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. 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. 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. The robot according to claim 11, wherein said robot further comprises input means for receiving an operation command input by the user.
13. 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. 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. 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. 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. A control method for a robot according to any one of claims 1 to 14, characterized in that the method comprises:

    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.
18. 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. A control method for a robot according to any one of claims 1 to 14, characterized in that the method comprises:

    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.