WO2018157490A1 - 用于筋脊调整及康复训练的系统、机器人及其控制方法 - Google Patents

用于筋脊调整及康复训练的系统、机器人及其控制方法 Download PDF

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Publication number
WO2018157490A1
WO2018157490A1 PCT/CN2017/086733 CN2017086733W WO2018157490A1 WO 2018157490 A1 WO2018157490 A1 WO 2018157490A1 CN 2017086733 W CN2017086733 W CN 2017086733W WO 2018157490 A1 WO2018157490 A1 WO 2018157490A1
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WIPO (PCT)
Prior art keywords
holding
user
robot
upper half
holding device
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Application number
PCT/CN2017/086733
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English (en)
French (fr)
Inventor
孙冰
Original Assignee
深圳市得道健康管理有限公司
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Publication of WO2018157490A1 publication Critical patent/WO2018157490A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/37—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising

Definitions

  • the invention relates to the technical field of medical or training equipment for human spine and tendons, in particular to a system, a robot and a control method thereof for ridge adjustment and rehabilitation training.
  • the patent number CN105434090A discloses a multi-directional spinal traction rehabilitation bed, the structure of which includes the upper body bed, the left side of the leg, and the right side of the leg.
  • the bed body, the space frame body, the control console, and the front end of the upper body frame body are provided with a fixing frame, and the body body is fixed with the body strap, the bed body of the left side of the leg body and the bed body of the right side of the leg body can be tilted and lowered, and the bed body can be oriented
  • the outer side is bent, and the end of the bed body is provided with a hand-stretching stretching bar.
  • the space frame body is a frame surrounded by the rod body, and a fixed pulley is fixed at the top, and the bed tail pole is fixed with a fixed pulley which can adjust the height up and down, and the console is the tail of the bed.
  • the box body extends the traction rope at the end of the bed, and the traction rope is controlled by the side hand crank.
  • patent number CN104382681A discloses a spinal disease prevention and rehabilitation device, which includes a cervical traction mechanism, a lumbar traction mechanism, and a fixed support frame.
  • the lumbar vertebrae cervical vertebrae is designed to be used to pull the lumbar and cervical vertebrae of the user through the traction mechanism of the user's own control mechanism.
  • the embodiment of the invention provides a system, a robot and a control method thereof for the ridge adjustment and rehabilitation training, 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.
  • an embodiment of the present invention provides a robot for ridge adjustment and rehabilitation training, the robot comprising:
  • a back plate disposed on the base and rotatably connected to the base;
  • 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; wherein the holding device is used in the robot Different sizes of tightening forces are applied to the user at different stages of operation;
  • a first transmission mechanism for driving the back plate to rotate relative to the base in a state in which the holding device holds the upper half of the user's body.
  • the holding device includes a first holding arm, a second holding arm, and a holding airbag; the first holding arm and the second holding arm are respectively disposed on the Two sides of the backboard form a holding area for accommodating a user, and the holding airbag is disposed in the holding area and is respectively connected to the first holding arm and the second holding arm,
  • the clasp airbag is filled in the inflated area in an inflated state, thereby holding the upper half of the body of the user in the clasped area.
  • the holding device further includes an airbag control system
  • the airbag control system includes an air pump, a gas storage tank, and a solenoid valve
  • the holding airbag is connected to the gas storage tank through a connecting pipe.
  • the electromagnetic valve is disposed on a connecting line between the holding airbag and the air tank, and the air pump is in communication with the air tank for providing high pressure gas of the air tank.
  • the holding device includes a first holding arm and a second holding arm, and the first holding arm and the second holding arm are respectively disposed on the back plate a side forming a holding area for accommodating a user, wherein the first holding arm and/or the second holding arm are provided with a boom driving unit, and the arm driving unit controls the first
  • the length of the gripping arm and/or the second clasping arm changes the size of the clasping region to effect adjustment of the gripping force of the upper half of the body of the user in the clasping region.
  • the clasping device includes a clasping belt and a clasping driving unit, the clasping driving unit is fixedly coupled to the backboard, and the clasping strap is used to connect the user's body The half is tightly held and abutted against the backboard, and the clasp drive unit changes the grip on the upper half of the user's body by tightening or relaxing the clasp, thereby achieving the opposite The tightness and relaxation of the upper part of the user's body.
  • the holding device further includes a pressure sensor disposed on an inner side of the holding device, the holding device is in the process of holding the user, the pressure sensor It is used for detecting the holding force of the holding device to the user.
  • the robot further includes a controller electrically connected to the holding device and the first transmission mechanism for controlling the holding device and the first transmission The operating status of the organization.
  • the robot further comprises input means for receiving an operation command input by the user.
  • the input device comprises an operating button, or a touch screen, or a voice recognition module, or a gesture recognition module.
  • the robot further includes a communication module, and the communication module is connected to the controller for a communication connection between the robot and the external device.
  • the embodiment of the present invention further provides a robot system for ridge adjustment and rehabilitation training, comprising the robot and the control device according to any one of the above embodiments, wherein the control device is communicatively connected with the robot, and controls the The operation of the robot.
  • an embodiment of the present invention further provides a method for controlling a ridge adjustment and rehabilitation training robot, the method comprising:
  • the holding device applies a first clamping force to the upper half of the user's body so that the upper half of the user's body is pre-held on the backing plate;
  • the holding device applies a second holding force to the upper half of the user's body, while the first transmission mechanism drives the backing plate to the back side of the user with respect to the base with the first angular acceleration.
  • the second holding force is greater than the first holding force.
  • the first transmission mechanism further comprises: the first transmission mechanism drives the back with the second angular acceleration The plate is reset flipped relative to the base; wherein the first angular acceleration is greater than the second angular acceleration.
  • the step of applying the first and second holding forces to the upper half of the user's body by the holding device is specifically: charging the airbag with different air pressures by the airbag control system, A different holding force of the gripping device on the upper half of the user's body is achieved.
  • the step of applying the first and second holding forces to the upper half of the user's body by the holding device is specifically: controlling the different lengths of the holding arms by the arm driving unit to realize different lengths
  • the holding device has a different grip on the upper half of the user's body.
  • the step of applying the first and second tightening forces to the upper half of the user's body by the holding device is specifically: controlling the retracting position of the clasping belt by the clasping driving unit
  • the holding device has a different grip on the upper half of the user's body.
  • the embodiment of the present invention further provides a system for ridge adjustment and rehabilitation training, the system comprising a cloud computing processing center and the robot according to any one of the above embodiments, the cloud computing processing center and the The robot performs data exchange and sharing to realize remote control and cloud data analysis of the robot.
  • the present invention provides a system for ridge adjustment and rehabilitation training, a robot and a control method thereof.
  • the robot can set the upper half of the user's body in an upright state and the back by providing a holding device.
  • the plate is tightly positioned, and during the operation of the robot, the holding device is controlled to apply different sizes of holding force, and then the gear mechanism is driven to rotate the back plate relative to the base to the user's back side, thereby realizing the user's tendons.
  • the network and the entire spine are adjusted or trained.
  • the robot has a simple structure and convenient control, which can shorten the cycle time of treatment or training for the tendons and the entire spine, and reduce the user's long treatment time or uncomfortable treatment posture. pain of.
  • FIG. 1 is a front elevational view showing the overall structure of a preferred embodiment of the ridge-adjusting and rehabilitation training robot of the present invention
  • Figure 2 is a side elevational view of the ridge adjustment and rehabilitation training robot of the embodiment of Figure 1;
  • FIG. 3 is a side elevational view showing a state in which the ridge adjustment and rehabilitation training robot holds the user in the embodiment of FIG. 1;
  • FIG. 4 is a top plan view showing an embodiment of a ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1;
  • Figure 5 is a schematic structural view of an airbag control system
  • Figure 6 is a top plan view showing another embodiment of the ridge adjusting and rehabilitation training robot in the embodiment of Figure 1;
  • Figure 7 is a side elevational view of the ridge adjustment and rehabilitation training robot of Figure 3 being flipped under the state of the user;
  • Figure 8 is a side elevational view of the seat with the seat structure robot structure in an open state of use
  • Figure 9 is a top plan view showing a non-tight state of another embodiment of the clasping device.
  • Figure 10 is a top plan view showing the state in which the clasping device is in a tight state in the embodiment of Figure 9;
  • Figure 11 is a top plan view showing still another embodiment of the clasping device.
  • Figure 12 is a top plan view showing still another embodiment of the holding device.
  • Figure 13 is a block diagram showing the structure of an embodiment of the ridge adjustment and rehabilitation training system of the present invention.
  • FIG. 14 is a schematic flow chart of an embodiment of a method for controlling a ridge adjustment and rehabilitation training robot according to the present invention.
  • Figure 15 is a schematic block diagram showing the structure of an embodiment of the robot control system of the present invention.
  • Fig. 16 is a side elevational view showing the state in which the ridge adjustment and rehabilitation training robot holds the user in another state in the embodiment of Fig. 1.
  • FIG. 1 is a schematic front view of a preferred embodiment of a preferred embodiment of the ridge-adjusting and rehabilitation training robot of the present invention
  • FIG. 2 is a side view of the ridge-adjusting and rehabilitation training robot of the embodiment of FIG.
  • the robot includes, but is not limited to, the following structure: a base 100, a backing plate 200, a clasping device 300, and a first transmission mechanism 400.
  • the function of the pedestal 100 is to support and fix the whole robot, so that the robot does not move or sway during the working process, and the purpose is to keep the overall structure of the robot in a stable state.
  • the pedestal 100 is an L-shaped plate-like structure.
  • the structure of the pedestal 100 may also be a triangular or inverted T-shaped fixing frame, or even A weight is arranged on the bottom of the base 100 to pressurize the base 100; or a fixing hole or other fixed mounting structure may be disposed on the base 100 to fix the base 100 to the bottom surface or the worktable, etc., further The stability of the susceptor 100 is enhanced. Regardless of the specific structural features of the susceptor 100, those skilled in the art will not be enumerated here.
  • the backplane 200 is disposed on the base 100 and is rotatably connected to the base 100. Specifically, the backplane 200 is rotatably connected by a pin (not shown) or the like.
  • the first transmission mechanism 400 is disposed on the backboard 200 and the base. The seat 100 cooperates with the rotational connection position.
  • the first transmission mechanism 400 can be a torque motor or a torque device or the like for driving the back plate 200 to rotate relative to the base 100 about the rotational connection position.
  • the back plate 200 and the base 100 are connected by a pin (not shown), the middle of the pin is fixedly connected with the back plate 200, and the two ends are hinged with the base 100, and the first transmission mechanism 400 is a torque motor.
  • the torque motor drives the pin shaft to rotate, thereby achieving the purpose of driving the back plate 200 to rotate relative to the base 100 about the rotational connection position.
  • FIG. 3 is a side view showing a state in which the ridge adjusting and rehabilitation training robot holds the user in the embodiment of FIG. 1
  • FIG. 16 is a ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1 .
  • the robot back plate 200 of the embodiment may further be provided with a neck plate 210.
  • the neck plate 210 is telescopically coupled with the top side of the back plate; The position of the plate 200 in the height is used to protect the user's head and neck when the user leans against the back plate 200 against the back or the back of the user.
  • the ridge adjustment and rehabilitation training robot in this embodiment is suitable for stretching and adjusting the user's ribs in the upright state of the user's upper body.
  • the user can use the robot while standing or sitting.
  • the upper half of the user's body needs to be backed against the backboard 200. Only the situation in which the user is in a standing state is illustrated in FIG.
  • FIG. 4 is a schematic top plan view of an embodiment of the ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1.
  • the holding device 300 in this embodiment includes a first holding arm 310, a second holding arm 320, and a holding air bag 330.
  • the first holding arm 310 and the second holding arm 320 are respectively disposed on two sides of the backboard 200 to form a holding area 302 for accommodating a user, and the holding airbag 330 is disposed in the holding area 302.
  • the first holding arm 310 and the second holding arm 320 are connected to each other, and the specific connection form may be bonding or the like.
  • the holding airbag 330 is filled in the inflated area 302 in an inflated state, thereby holding the upper half of the body of the user located in the tightening area 302.
  • the first holding arm 310 and the second holding arm 320 respectively include a main arm (311, 321) and an arm (312, 322), wherein one ends of the main arms (311, 321) and the back plate respectively The two sides of the 200 are connected, and the arms (312, 322) are respectively rotatably connected to the other ends of the main arms (311, 321), so that the arms (312, 322) can be opened relative to the tightening region 302, facilitating the upper half of the body.
  • the portion enters the grip area 302.
  • FIG. 5 is a schematic structural diagram of the airbag control system.
  • the airbag control system 333 includes a gas pump 3331, a gas storage tank 3332, and a solenoid valve 3333. It is connected to the gas storage tank 3332 through a connecting pipe 3334.
  • the electromagnetic valve 3333 is disposed on the connecting pipe 3334 between the airbag 330 and the air tank 3332, and the air pump 3331 communicates with the air tank 3332 for providing storage. High pressure gas of gas cylinder 3332.
  • the airbag control system 333 charges the airbags 330 with different air pressures to achieve different gripping forces of the gripping device 300 on the upper half of the user's body.
  • FIG. 6 is a schematic top plan view of another embodiment of the ridge adjusting and rehabilitation training robot in the embodiment of FIG. 1.
  • the first holding arm 310 in this embodiment is different from the previous embodiment.
  • the inner arms (311, 321) of the second holding arm 320 and the inner sides of the arms (312, 322) are respectively provided with independent holding airbags 330, so that the holding airbag 330 can better fill the holding area 302.
  • one or more holding airbags may be provided to fill the airbags in the tightening area 302, which are not listed here by those skilled in the art. And detailed.
  • the back plate 200 in this embodiment may be designed as an arc structure, and the holding device 300 is used to hold the upper half of the body to the concave side of the curved back plate, and the back plate 200 of the structure is adapted.
  • the curved structure of the back of the human body can increase the comfort when the user backs up the board 200.
  • the holding device 300 is used to hold (fix and fix) the upper body half of the user 888 with the back plate 200, so that the first transmission mechanism 400 holds the upper half of the body of the user 888 at the holding device 300.
  • the backing plate 200 (together with the upper part of the body of the user 888) is turned over to the back side of the user 888 with respect to the base 100 to achieve the purpose of adjusting or rehabilitating the user's ridge; Please refer to FIG. 7.
  • FIG. 7 is a side elevational view of the ridge adjustment and rehabilitation training robot of FIG.
  • the user 888 can be driven under the body.
  • the half is suspended, thereby increasing the tensile force on the user's ribs by the gravity of the lower part of the user's 888 body.
  • This situation may have a large tensile force, but may not be suitable for all users.
  • different rollover angles or positions can be used, such as the use of a robot in a sitting position or the use of a lower half of the body.
  • the acceleration generated by the backboard 200 on the upper half of the user's body is 1 times the gravity speed and 2 times the gravity acceleration. Between these, the acceleration range value can ensure that the ribs are not damaged due to excessive acceleration when the user's ribs are effectively adjusted or rehabilitated.
  • the angular acceleration of the backing plate 200 is set such that the backing plate 200 rotates within 5 seconds. Degree, the greater the angle of rotation within 1 second, the greater the acceleration on the upper half of the user's body, and more preferably the angular acceleration of the backing plate 200 is set such that the backing plate 200 rotates within 10 seconds. degree.
  • the value of the specific angular acceleration of the robot during the stretching process using the robot can be specifically set according to the user's situation.
  • the first transmission mechanism 400 accelerates the upper half of the user's body during the rotation of the back plate 200 to the back side, and the first transmission mechanism 400 drives the back plate 200 to reset.
  • the acceleration generated by the back plate on the upper half of the user's body is preferably smaller than the angular acceleration of the first transmission mechanism 400 during the rotation of the back plate 200 toward the back side.
  • the specific values are not specifically limited herein.
  • the robot further includes a second transmission mechanism 500, which is respectively coupled to the backboard 200 and the clasping device 300 for adjusting the tightness relative to the backboard 200.
  • the position of the device 300 adjusts the position of the gripping device 300 to the upper half of the user's torso.
  • the second transmission mechanism 500 is specifically configured to change the fixed position of the holding device 300 in the vertical height direction of the backboard 200 to meet the user's needs of different heights or the holding device 300 can hold the user's different body. Half position.
  • the second transmission mechanism 500 is specifically configured to provide a plurality of adjustment holes on the side of the back plate 200, and then cooperate with the adjustment holes by the pins to realize the different positions of the holding device 300 and the back plate 200 at different height positions. Cooperate.
  • the second transmission mechanism 500 may also be a structural form that drives the holding device 300 to move in the height direction along the back plate 200 by using a driving unit, such as a rack and pinion, a linear motor, or the like.
  • a driving unit such as a rack and pinion, a linear motor, or the like.
  • the base 100 of the robot may further include a seat 110, please refer to FIG. 1 and FIG. 8 together, and FIG. 8 is a seat with a seat structure robot structure.
  • FIG. 8 is a seat with a seat structure robot structure.
  • the seat 110 in this embodiment is a folding seat plate that is rotatably connected with the base 100.
  • the seat 110 In the non-use state, the seat 110 is rotatably folded into a retracted state against the base (as shown in FIG. 1).
  • the foldable opening is at an angle to the base 100 (state in Fig. 8), for example, 90 degrees, and the user can sit on the robot.
  • the structure of the seat is listed.
  • different seat forms may be designed according to the structure of the base 100, and even in the form of using other independent structural benches, the bench may be used. It may not be part of the robot.
  • the double-headed arrow in FIG. 8 is a state in which the second transmission mechanism 500 drives the holding device 300 to move up and down.
  • an arm width adjuster 600 is further disposed between the gripping device 300 of the robot and the backboard 200, and the arm width adjuster 600 is used to adjust the grip arms (310, 320) and the back.
  • the connection position on both sides of the board 200 serves to adjust the lateral width of the inside of the holding arms (310, 320), so that the robot's holding device 300 can be used by users who have different shoulder widths.
  • the specific structure of the arm width adjuster 600 may be a bolt, a gasket of different thickness, or a drive telescopic shaft.
  • FIG. 9 is a schematic top plan view of a non-tight state of the embodiment of the clasping device
  • FIG. 10 is a top plan view of the clasping device in the embodiment of FIG.
  • the holding device 300 in this embodiment includes a first holding arm 310, a second holding arm 320, and a clasp driving unit 330.
  • first holding arm 310 and the second holding arm 320 are respectively disposed on two sides of the backboard 200.
  • first holding arm 310 and the second holding arm 320 in the embodiment are connected to the opposite ends of the fixed connection end of the backboard 200 by the movable chain 340.
  • the first clasp arm 310, the second clasp arm 320, the backing plate 200, and the movable chain 340 together form a gripping region 302 for receiving a user.
  • the first holding arm 310 and the second holding arm 320 are respectively provided with a boom driving unit 330, and the arm driving unit 330 controls the first holding arm 310 and the second holding arm 320.
  • the length is extended to change the size of the clasp region 302, thereby enabling adjustment of the tightness, relaxation, or different grip of the upper half of the body of the user 888 located in the clasp region 302.
  • the first holding arm 310 and the second holding arm 320 are connected together by the movable chain 340.
  • the arm driving unit 330 drives the holding, a tight area 302 can be formed with the two holding arms, and the movable chain 340 structure Compared with the purely rigid holding arm, it can reduce the damage caused to the user due to excessive force.
  • first holding arm 310, the second holding arm 320, and the movable chain 340 are provided with a spacer layer (not shown) made of a soft material on one side in the holding area 302.
  • the septum layer can be made of sponge, fiber or rubber. The purpose is to form soft contact with the user when the gripping arm is driven and hung, thereby reducing the pain of squeezing and increasing the comfort of use.
  • the arm driving unit 330 is disposed at a middle portion of the holding arm (310, 320).
  • the arm driving unit 330 is a linear driving motor, and the stator and the mover of the linear driving motor are respectively fixed to the holding arm.
  • the ends (311, 321) and the movable ends (312, 322) are connected, and the adjustment of the extension length of the holding arms (310, 320) is realized by changing the relative driving position of the movable motor and the stator of the linear driving motor.
  • the arm driving unit 330 may also be a hydraulic cylinder, and the cylinder block and the piston rod of the hydraulic cylinder are respectively connected to the fixed ends (311, 321) and the movable ends (312, 322) of the holding arms, by changing the hydraulic cylinder.
  • the relative transmission position of the cylinder block and the piston rod realizes the adjustment of the extension length of the holding arms (310, 320).
  • the arm driving unit 330 may be disposed only on one of the holding arms (310 or 320), and the two legs of the other holding arm may be a sliding connection structure, through one side.
  • the arm driving unit 330 drives the other side of the holding arm to slide, thereby realizing the adjustment of the extension length of the two side holding arms (310, 320), thereby achieving the upper half of the body of the user 888 located in the holding area 302. Hold, relax and adjust the different grips.
  • the robot in this embodiment may further include a third transmission mechanism 700 connected to the holding device 300 for driving the holding arm of the holding device 300 relative to the back plate 200 thereof.
  • the connecting position is rotated, so that the clasping arm is lifted upwards, so that the upper part of the user's body enters the clasping area 302.
  • the third transmission mechanism 700 can be a torque motor or a torque device, etc., and rotates the clamping arm (310 or 320) around its connection position with the backboard 200.
  • FIG. 11 is a schematic top plan view of another embodiment of the clasping device.
  • the clasping device 300 of the present embodiment includes a clasping strap 310 and a clasping drive unit 320.
  • the clasp drive unit 320 can be fixedly coupled to the backboard 200 by a fixing plate 330 for holding the upper half of the user's body and abutting the back panel. 200.
  • the clasping drive unit 320 changes the gripping force on the upper half of the user's body by tightening or relaxing the clasping strap 310, thereby achieving tightness and relaxation of the upper half of the user's body.
  • the clasp drive unit 320 may be a drive motor that drives the motor to roll up or loosen the clasp band 310 to achieve a change in the grip force.
  • the holding strap 310 can be a wire rope or a wide body fiber, a nylon belt or the like.
  • one end of the holding strap 310 is fixedly connected with the backboard 200, and the other end is drivingly connected with the clasp driving unit 320.
  • the clasping strap 310 and the backboard 200 together form a holding area 302, in the state of use of the robot.
  • the upper half of the user's body is located in the grip area 302.
  • the holding device 300 in this embodiment may further include a holding plate 340, one side of the holding plate 340 is fixedly connected with the holding belt 310, and the driving unit 320 is tightened to tighten or loosen the holding belt. 310 achieves grip control of the clasp plate 340 and the upper half of the body.
  • the holding plate 340 preferably adopts an arc structure, and the concave side of the arc is in close contact with the upper half of the user's body when in the tight state.
  • the holding device 300 in this embodiment can increase the contact area of the clasp device 300 with the upper half of the user's body by providing the clasping plate 340 of the curved structure, and can be adapted to the side of the human body on the other hand.
  • the curved structure further reduces the pain of the user of the clasp device 300 and increases the comfort of use of the robot.
  • FIG. 12 is a schematic top plan view of still another embodiment of the clasping device.
  • the clasping strap 310 forms a clasping region 302, that is, the clasping strap 310 forms a wraparound sleeve.
  • the backboard 200 and the upper half of the user's body are simultaneously located in the gripping area 302.
  • 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.
  • 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. 3: the holding device is held tightly held by the user's hands, the back of the head, the back neck, and the hands crossed. Hold the arm and hold the shoulder outside the elbow joint; or hold it under the user's armpit in Figure 16; at this time, the back panel is close to the user's back so that the user's upper body and back panel are hug Tight positioning.
  • the robot may further include an electronic structure portion (not shown) such as a controller and a display unit, the controller and the holding device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed).
  • an electronic structure portion such as a controller and a display unit, the controller and the holding device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed
  • the electrical connection is used to control the operating state of the holding device 300 and the first and second transmission mechanisms, and the display unit is connected to the controller for displaying information such as the operating state parameter of the robot; wherein the display unit may be a liquid crystal display Or other structural forms with display capabilities.
  • the robot may further include an input device for receiving an operation instruction input by the user.
  • the input device may be an operation button, or a touch screen, or a voice recognition module, or a gesture recognition module or the like.
  • a communication module may be disposed inside the robot, and the communication module is connected to the controller for communication connection between the robot and the external device.
  • the communication module may be in the form of wired or wireless, such as wireless Bluetooth, radio frequency, wireless, etc., and the wired form may be an interface for connecting a control device such as a computer or a mobile phone, and connecting with an external device through the interface end. Then, the control device connected thereto controls the operation of the robot.
  • FIG. 15 is a schematic diagram showing the structure of a robot control system according to an embodiment of the present invention.
  • the figure labeled 1000 is a robot, and the numeral 2000 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.
  • the holding device in the above embodiment may further include a pressure sensor (not shown), and the pressure sensor may be specifically disposed on the inner side of the holding device. During the process of holding the user, the pressure sensor is used to detect the holding force of the holding device to the user, thereby assisting the control unit to complete the control of the tightening force between the holding device and the user.
  • FIG. 13 is a structural block diagram of an embodiment of the ridge adjustment and rehabilitation training system of the present invention.
  • the system may include constituent units such as the cloud computing processing center 810 and the robot 820 described in the above embodiments.
  • the cloud computing processing center 810 and the robot 820 are mutually connected and exchange data and share data to realize remote control and cloud data analysis of the robot 820.
  • the specific structural features of the cloud computing processing center 810 are not described herein again within the understanding of those skilled in the art.
  • the present invention provides a system for ridge adjustment and rehabilitation training and a robot thereof, which can hold the upper half of the user's body in an upright state and hold the back plate by providing a holding device. Positioning, during the operation of the robot, the control clasp device applies different sizes of holding force, and then cooperates with the transmission mechanism to drive the back plate to be turned over to the back side of the user with respect to the base, thereby realizing the user's tendons and the whole The spine is adjusted or trained.
  • the robot has a simple structure and convenient control, which can shorten the cycle time of treatment or training for the tendons and the entire spine, and reduce the pain caused by the user's long treatment time or uncomfortable treatment posture.
  • FIG. 14 is a schematic flowchart of an embodiment of a method for controlling a ridge adjustment and rehabilitation training robot according to the present invention. If the results are substantially the same, the method of the present invention is not limited to the sequence of the flow shown in FIG. As shown, the method includes the following steps:
  • the holding device applies a first clamping force to the upper half of the user's body.
  • the purpose of this step is to allow the upper half of the user's body to be pre-held on the backing plate.
  • the specific manner of applying the first holding force to the upper half of the user's body by the holding device may be that the airbag is inflated by the airbag control system with a predetermined air pressure value, for example, a pneumatic pressure value of 1 MPa.
  • the specific manner of applying the first holding force to the upper half of the user's body by the holding device may also be that the holding arm is controlled by the arm driving unit to extend a certain length, and then the pressure sensor is used to know the holding device to the user.
  • the upper half of the body exerts a tight force.
  • the specific manner in which the holding device applies the first holding force to the upper half of the user's body may also be to control the contraction of the holding belt to a certain position by the holding drive unit, and then the pressure sensor is used to know the use of the holding device.
  • the upper half of the body applies a tight grip.
  • the holding device applies a second holding force to the upper half of the user's body, and the first transmission mechanism drives the back plate to the back side of the user with respect to the base with the first angular acceleration.
  • step S101 the tightening device applies a second gripping force to the upper half of the user's body to securely hold the user together with the backing plate.
  • the first transmission mechanism drives the back plate to the back side of the user with respect to the base with the first angular acceleration.
  • the first transmission mechanism generates the acceleration of the upper half of the user's body during the rotation of the back plate to the back side with the first angular acceleration, and the acceleration between the gravity speed and the 2 times the gravity acceleration is between 1 time.
  • Such an acceleration range value can ensure that the ridges are not damaged due to excessive acceleration when the user's ribs are effectively adjusted or rehabilitated.
  • the first transmission mechanism is configured to rotate the back plate to the back side of the user, and the first angular acceleration of the back plate is set such that the back plate rotates within 1 second. -25 degrees, the greater the angle of rotation within 1 second, the greater the acceleration of the upper half of the user's body, and more preferably the angular acceleration of the backing plate is set such that the backing plate rotates within 10 seconds. degree.
  • the value of the specific angular acceleration of the robot during the stretching process using the robot can be specifically set according to the user's situation.
  • the specific manner in which the clasp device applies a second tightening force to the upper half of the user's body may be to inflate the clasp airbag with a predetermined air pressure value through the airbag control system.
  • the second tightening force exerted by the clasping device on the upper half of the user's body is greater than the first tightening force.
  • the airbag is filled to a pressure value of 2 MPa.
  • the specific pressure value is not specifically limited herein.
  • the first holding force acts as a pre-tightening, while the second holding force requires the user to securely fix (ie, fully hold) the backing plate.
  • the specific manner of applying the second holding force to the upper half of the user's body by the holding device may also be that the holding arm is controlled to extend a certain length by the arm driving unit, and then the body of the user is grasped by the pressure sensor. The upper part applies the tightening force.
  • the arm driving unit controls the length of the holding arm to extend less than the length of the pre-tensioning.
  • the specific manner of applying the second holding force to the upper half of the user's body by the holding device can also control the contraction of the holding belt to a certain position by the holding drive unit, and then the pressure sensor is used to know the holding device to the user.
  • the upper part of the body exerts a tight grip.
  • the first transmission mechanism drives the backboard to be reset and reversed relative to the base with a second angular acceleration.
  • the second angular acceleration of the first transmission mechanism for driving the back plate to be reset and reversed relative to the base is smaller than that of the first transmission mechanism for driving the back plate to the user's back side with respect to the base.
  • the specific value of the second angular acceleration of the first transmission mechanism for driving the back plate to be reset and reversed relative to the base is not limited herein.
  • the pre-tightening of the upper half of the user's body from the holding device to the completion of the first transmission mechanism to drive the backing plate to be reset and reversed relative to the base generally takes only 1-4 seconds.
  • the method for controlling the ridge adjustment and rehabilitation training robot provided by the present invention firstly uses the gripping device of the robot to pre-hold the upper half of the user's body in an upright state with the backboard, and then The holding device is tightened twice, and the transmission mechanism drives the back plate to be turned over to the back side of the user with respect to the base.
  • the method can complete the user's tendons in a short time (generally 1-4 seconds).
  • the entire spine is adjusted or trained. Compared with the prior art, this greatly shortens the cycle time of treatment or training for the tendons and the entire spine, and can reduce the pain caused by the user's long treatment time or uncomfortable treatment posture.

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Abstract

一种用于筋脊调整及康复训练的系统、机器人（820，1000）及其控制方法，机器人（820，1000）包括：基座（100）、背板（200）、抱紧装置（300）以及第一传动机构（400）；该背板（200）设置于基座（100）上且与基座（100）转动连接；抱紧装置（300）设置于背板（200）上，用于在机器人（820，1000）的不同运行阶段对使用者（888）施加不同大小的抱紧力；第一传动机构（400）用于在抱紧装置（300）抱紧使用者（888）的躯体上半部的状态下传动背板（200）相对于基座（100）旋转。该机器人（820，1000）通过设置抱紧装置（300），可将使用者（888）的躯体上半部以直立的状态与背板（200）抱紧定位，在机器人（820，1000）的运行过程中，控制抱紧装置（300）施加不同大小的抱紧力，然后配合第一传动机构（400）带动背板（200）相对于基座（100）向使用者（888）的背侧翻转，可实现对使用者（888）的筋络以及整个脊椎进行调整或者训练。

Description

用于筋脊调整及康复训练的系统、机器人及其控制方法
【技术领域】
本发明涉及人体脊椎以及筋络的医疗或者训练器材的技术领域，具体是涉及一种用于筋脊调整及康复训练的系统、机器人及其控制方法。
【背景技术】
由于人们的工作方式、工作压力或者意外事故等原因，脊椎以及筋络经常会出现病痛，因此需要进行对脊椎以及筋络进行康复性训练或者调整，即便是筋脊健康的人，经常做一些这方面的锻炼或者拉伸，对身体健康也是非常有益处的。
现有技术中针对筋脊的治疗、训练等器材有很多，譬如专利号CN105434090A就公开了一种多方位脊柱牵引康复床，其结构包括上身床体、腿部左侧床体、腿部右侧床体、空间架体、操控台，上身架体前端设有固定架，配合缚身带固定人体上身，腿部左侧床体及腿部右侧床体其床板可倾斜升降，床体可向外侧弯转，床体尾端设有手摇拉伸杠，空间架体是杆体围成的架，顶部固定一个定滑轮，床尾立杆固定一个可上下调整高度的定滑轮，操控台是床尾的箱体，在床尾处伸出牵引绳，通过侧面的手摇盘控制牵引绳的收放。
另外，申请人还了解到专利号CN104382681A公开了一种脊柱疾病预防康复装置，该装置包括颈椎牵引机构、腰椎牵引机构以及固定支撑架。其采用腰椎颈椎卧立两用设计，通过使用者自行控制机构的牵引力道对使用者的腰椎和颈椎进行牵引。
上述专利都存在以下缺点：1、由于结构的原因，牵引力施加范围有限，因此需要使用者长时间的保持一个姿势进行牵引拉伸，使用者会感觉不适，其康复及治疗的时间周期过长；2、其只能对人体部分脊椎结构进行治疗或者训练调整，并且还不能整筋，无法满足使用者对筋络进行调整的要求，很显然现有技术中脊柱康复治疗装置的功能过于单一。
【发明内容】
本发明实施例提供一种用于筋脊调整及康复训练的系统、机器人及其控制方法，以解决现有技术中脊柱康复治疗装置存在的治疗时间过长以及功能单一的技术问题。
为解决上述问题，本发明实施例一方面提供了一种用于筋脊调整及康复训练的机器人，所述机器人包括：
基座；
背板，设置于所述基座上且与所述基座转动连接；
抱紧装置，设置于所述背板上，用于在使用者背靠在所述背板上时抱紧所述使用者的躯体上半部；其中，所述抱紧装置用于在机器人的不同运行阶段对使用者施加不同大小的抱紧力；
第一传动机构，用于在所述抱紧装置抱紧所述使用者的躯体上半部的状态下传动所述背板相对于所述基座旋转。
根据本发明一优选实施例，所述抱紧装置包括第一抱紧臂、第二抱紧臂以及抱紧气囊；所述第一抱紧臂和所述第二抱紧臂分别设置于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述抱紧气囊设于所述抱紧区域内并分别与所述第一抱紧臂和所述第二抱紧臂连接，所述抱紧气囊在充气状态下填充于所述抱紧区域内，进而将位于所述抱紧区域内使用者的躯体上半部抱紧。
根据本发明一优选实施例，所述抱紧装置还包括气囊控制系统，所述气囊控制系统包括气泵、储气罐以及电磁阀，所述抱紧气囊通过连接管路与所述储气罐连接，所述电磁阀设于所述抱紧气囊与所述储气罐之间的连接管路上，所述气泵与所述储气罐连通，用于提供所述储气罐的高压气体。
根据本发明一优选实施例，所述抱紧装置包括第一抱紧臂以及第二抱紧臂，所述第一抱紧臂和所述第二抱紧臂分别设于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧力的调节。
根据本发明一优选实施例，所述抱紧装置包括抱紧带以及抱紧驱动单元，所述抱紧驱动单元与所述背板固定连接，所述抱紧带用于将使用者的躯体上半部抱紧并使之紧靠于所述背板，所述抱紧驱动单元通过收紧或者放宽所述抱紧带来改变对使用者的躯体上半部的抱紧力，进而实现对所述使用者的躯体上半部的抱紧与放松。
根据本发明一优选实施例，所述抱紧装置还包括压力传感器，所述压力传感器设于所述抱紧装置的内侧，所述抱紧装置在抱紧使用者的过程中，所述压力传感器用于检测所述抱紧装置对使用者的抱紧力。
根据本发明一优选实施例，所述机器人还包括控制器，所述控制器与所述抱紧装置以及所述第一传动机构电连接，用于控制所述抱紧装置以及所述第一传动机构的运行状态。
根据本发明一优选实施例，所述机器人还包括输入装置，用于接收用户输入的操作指令。
根据本发明一优选实施例，所述输入装置包括操作按键，或触摸屏，或语音识别模块，或手势识别模块。
根据本发明一优选实施例，所述机器人还包括通信模块，所述通信模块与所述控制器连接，用于机器人与外部设备之间通信连接。
本发明实施例还提供一种用于筋脊调整及康复训练的机器人系统，包括上述实施例中任一项所述的机器人以及控制设备，所述控制设备与所述机器人通信连接，并控制所述机器人的运行。
为解决上述技术问题，本发明实施例另一方面还提供一种筋脊调整及康复训练机器人的控制方法，所述方法包括：
抱紧装置对使用者的躯体上半部施加第一抱紧力，使使用者的躯体上半部被预抱紧于背板；
抱紧装置对使用者的躯体上半部施加第二抱紧力，同时第一传动机构以第一角加速度带动背板相对于基座向使用者的背侧翻转。
根据本发明一优选实施例，所述第二抱紧力大于所述第一抱紧力。
根据本发明一优选实施例，所述第一传动机构以第一角加速度带动背板相对于基座向使用者的背侧翻转的步骤之后还包括：第一传动机构以第二角加速度带动背板相对于基座进行复位翻转；其中，所述第一角加速度大于所述第二角加速度。
根据本发明一优选实施例，所述抱紧装置对使用者的躯体上半部施加第一、第二抱紧力的步骤具体为：通过气囊控制系统对抱紧气囊充入不同大小的气压，实现抱紧装置对使用者躯体上半部的不同抱紧力。
根据本发明一优选实施例，所述抱紧装置对使用者的躯体上半部施加第一、第二抱紧力的步骤具体为：通过抱臂驱动单元控制抱紧臂延伸不同的长度，实现抱紧装置对使用者躯体上半部的不同抱紧力。
根据本发明一优选实施例，所述抱紧装置对使用者的躯体上半部施加第一、第二抱紧力的步骤具体为：通过抱紧驱动单元控制抱紧带的收放位置，实现抱紧装置对使用者躯体上半部的不同抱紧力。
进一步地，本发明实施例还提供一种用于筋脊调整及康复训练的系统，所述系统包括云端运算处理中心以及上述实施例中任一项所述机器人，所述云端运算处理中心与所述机器人进行数据交换与共享，实现所述机器人的远端控制及云端数据分析。
相对于现有技术，本发明提供的用于筋脊调整及康复训练的系统、机器人及其控制方法，该机器人通过设置抱紧装置，可将使用者的躯体上半部以直立的状态与背板抱紧定位，在机器人的运行过程中，控制抱紧装置施加不同大小的抱紧力，然后配合传动机构带动背板相对于基座向使用者的背侧翻转，可实现对使用者的筋络以及整个脊椎进行调整或者训练，该机器人的结构简单，控制方便，可以缩短对筋络以及整个脊椎的治疗或训练的周期时间，减少使用者因治疗时间过长或者治疗姿势不舒适所带来的痛苦。
【附图说明】
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明用于筋脊调整及康复训练机器人一优选实施例的整体结构正视示意图；
图2是图1实施例中筋脊调整及康复训练机器人的侧视示意图；
图3是图1实施例中筋脊调整及康复训练机器人抱紧使用者一种状态的侧视示意图；
图4是图1实施例中筋脊调整及康复训练机器人一实施例的俯视结构示意图；
图5是气囊控制系统的结构示意图；
图6是图1实施例中筋脊调整及康复训练机器人另一实施例的俯视结构示意图；
图7是图3中筋脊调整及康复训练机器人抱紧使用者状态下进行翻转的侧视示意图；
图8是带有座椅结构机器人结构的座椅处于打开使用状态的侧视示意图；
图9是抱紧装置又一实施例的非抱紧状态俯视结构示意图；
图10是图9实施例中抱紧装置抱紧状态的俯视结构示意图；
图11是抱紧装置再一实施例的俯视结构示意图；
图12是抱紧装置还一实施例的俯视结构示意图；
图13是本发明用于筋脊调整及康复训练系统一实施例的结构组成框图；
图14是本发明筋脊调整及康复训练机器人的控制方法一实施例的流程示意图；
图15是本发明机器人控制系统实施例的组成结构示意简图；
图16是图1实施例中筋脊调整及康复训练机器人抱紧使用者另一种状态的侧视示意图。
【具体实施方式】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
请一并参阅图1和图2，图1是本发明用于筋脊调整及康复训练机器人一优选实施例的整体结构正视示意图，图2是图1实施例中筋脊调整及康复训练机器人的侧视示意图，该机器人包括但不限于以下结构：基座100、背板200、抱紧装置300以及第一传动机构400。
具体而言，基座100的作用为对机器人整体起到支撑以及固定的作用，使机器人在工作过程中，不会移动或者摇摆，目的是保持机器人整体结构处于稳定的状态。
在本实施例的图示中基座100为L型的板状结构，当然，在其他实施例中，基座100的结构还可以为三角形或者倒T字型固定架等结构，甚至还可以在基座100的底部设置配重，以压稳基座100；再或者还可以在基座100上设置固定孔或者其他固定安装结构，以将基座100与底面或者工作台等位置固定连接，进一步增强基座100的稳定性，关于基座100具体的结构特征，在本领域技术人员的理解范围内，此处就不再一一列举。
背板200设置于基座100上，且与基座100转动连接，具体可以为通过销轴（图中未标示）或其他方式转动连接在一起，第一传动机构400设于背板200与基座100配合转动连接位置处。
优选地，该第一传动机构400可以为力矩电机或者力矩器等，用于带动背板200相对于基座100绕转动连接位置处进行旋转。譬如，背板200与基座100通过销轴（图中未标示）连接，销轴的中部与背板200为固定连接，而两端则与基座100铰接，第一传动机构400为力矩电机，力矩电机带动销轴转动，进而实现带动背板200相对于基座100绕转动连接位置处进行转动的目的。
抱紧装置300设置于背板200上，用于在使用者背靠在背板200上时，抱紧使用者的躯体上半部。请一并参阅图3和图16，图3是图1实施例中筋脊调整及康复训练机器人抱紧使用者一种状态的侧视示意图，图16是图1实施例中筋脊调整及康复训练机器人抱紧使用者另一种状态的侧视示意图；图中的标注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。
进一步地，请继续参阅图1和图2，本实施例中的机器人背板200上还可以设置颈靠板210，该颈靠板210与背板的顶侧伸缩滑动连接；进而调整其相对背板200在高度上的设置位置，用于在使用者背靠在背板200上时，抵靠使用者的后脑或者后颈，起到保护使用者头部和颈部的作用。
这里需要说明的是，本实施例中的筋脊调整及康复训练机器人适用于使用者的躯体上半部处于直立状态下对使用者的筋脊进行拉伸调整。换句话说是使用者可以处于站立或者坐立状态下使用该机器人，使用机器人时都需要使用者的躯体上半部背靠于背板200上。图3中只是示意出了使用者处于站立状态的情况。
请参阅图4，图4是图1实施例中筋脊调整及康复训练机器人一实施例的俯视结构示意图。其中，本实施例中的抱紧装置300包括第一抱紧臂310、第二抱紧臂320以及抱紧气囊330。
具体而言，该第一抱紧臂310和第二抱紧臂320分别设置于背板200的两侧，形成用于容纳使用者的抱紧区域302，抱紧气囊330设于抱紧区域302内并分别与第一抱紧臂310和第二抱紧臂320连接，具体的连接形式可以为粘接等。抱紧气囊330在充气状态下填充于抱紧区域302内，进而将位于抱紧区域302内使用者的躯体上半部抱紧。
优选地，该第一抱紧臂310和第二抱紧臂320分别包括主臂（311、321）以及小臂（312、322），其中，主臂（311、321）的一端分别与背板200的两侧连接，小臂（312、322）分别与主臂（311、321）的另一端转动连接，以使小臂（312、322）可相对于抱紧区域302打开，便于躯体上半部进入到抱紧区域302内。
在本实施例中，第一抱紧臂310和第二抱紧臂320的主臂（311、321）内侧分别设有抱紧气囊330，且两侧抱紧气囊330被独立充放气控制。进一步地，该机器人还包括气囊控制系统，请一并参阅图5，图5是气囊控制系统的结构示意图，该气囊控制系统333包括气泵3331、储气罐3332以及电磁阀3333，抱紧气囊330通过连接管路3334与储气罐3332连接，所述电磁阀3333设于抱紧气囊330与储气罐3332之间的连接管路3334上，气泵3331与储气罐3332连通，用于提供储气罐3332的高压气体。通过气囊控制系统333对抱紧气囊330充入不同大小的气压，实现抱紧装置300对使用者躯体上半部的不同抱紧力。
进一步地，请参阅图6，图6是图1实施例中筋脊调整及康复训练机器人另一实施例的俯视结构示意图，与上一实施例不同的是，本实施例中第一抱紧臂310和第二抱紧臂320的主臂（311、321）以及小臂（312、322）的内侧分别设有独立的抱紧气囊330，这样使抱紧气囊330可以更好的填充抱紧区域302，让使用者有更舒适的抱紧状态。当然，在其他实施例中也可以为设置一个或者多个抱紧气囊，使抱紧气囊填充于抱紧区域302内，在本领域技术人员能够理解的范围之内，此处不再一一列举并详述。
进一步优选地，本实施例中的背板200可以设计成弧形结构，抱紧装置300用于将躯体上半部抱紧于弧形背板的凹侧，这种结构的背板200由于适应人体背部的弧形结构，可以在使用者背靠背板200时，增加舒适度。
抱紧装置300用于将使用者888的躯体上半部与背板200抱紧定位（固定在一起），以便第一传动机构400在抱紧装置300抱紧使用者888的躯体上半部的状态下，带动背板200（连同使用者888的躯体上半部一起）相对于基座100向使用者888的背侧翻转，以达到对使用者的筋脊进行调整或者康复训练的目的；具体请参阅图7，图7是图3中筋脊调整及康复训练机器人抱紧使用者状态下进行翻转的侧视示意图。
优选地，在第一传动机构400带动背板200（连同使用者888的躯体上半部一起）相对于基座100向使用者888的背侧翻转的过程中，可以带动使用者888的躯体下半部悬空，进而利用使用者888躯体下半部的重力作用增大对使用者筋脊的拉伸力，这种情况可能会具有较大的拉伸力，但不一定适用于所有使用者，当然，根据不同使用者的情况可以采用不同侧翻角度或者位置，譬如可以采用坐姿使用机器人或者不用躯体下半部悬空等使用情况。
本实施例中优选地，第一传动机构400在带动背板200进行向背侧转动的过程中，背板200对使用者的躯体上半部产生的加速度介于1倍重力速度和2倍重力加速度之间，这样的加速度范围值可以在满足对使用者的筋脊进行有效调整或者康复训练的情况下，还可以保证不至于因为加速度过大而对筋脊造成伤害。
进一步优选地，为了达到最佳的拉伸效果，第一传动机构400在带动背板200进行转动的过程中，背板200的角加速度设置成使得背板200在1秒钟内转动5-25度，1秒内转动的角度越大则会对使用者的躯体上半部产生越大的加速度，更优选为背板200的角加速度设置成使得背板200在1秒钟内转动10-20度。机器人在使用机器人进行拉伸的过程中具体的角加速度的值可根据使用者的情况进行具体设定。
以上描述了第一传动机构400在带动背板200进行向背侧转动过程中，背板200对使用者的躯体上半部产生的加速度的情况，而第一传动机构400在带动背板200进行复位翻转时，背板对使用者的躯体上半部产生的加速度优选小于第一传动机构400在带动背板200进行向背侧转动过程中的角加速度。而具体的数值此处不做具体限定。
优选地，请继续参阅图1至图4，该机器人进一步包括第二传动机构500，该第二传动机构500分别与背板200以及抱紧装置300连接，用于相对于背板200调节抱紧装置300的位置，进而调节抱紧装置300对使用者躯体上半部的抱紧位置。第二传动机构500具体用于改变抱紧装置300在背板200的竖直高度方向上的固定位置，以满足不同身高的使用者需求或者时抱紧装置300可以抱紧使用者不同的躯体上半部位置。
在本实施例中，第二传动机构500具体的结构为在背板200的侧边设置多个调节孔，然后利用插销与调节孔配合，实现抱紧装置300与背板200在不同高度位置的配合。另外，在其他实施例中，第二传动机构500还可以为利用驱动单元带动抱紧装置300沿着背板200在高度方向上移动的结构形式，譬如利用齿轮齿条、直线电机等。而关于第二传动机构500其他的结构形式，本领域技术人员可以根据第二传动机构500的功能要求自行选取或设计，此处不再列举并详述。
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8，图8是带有座椅结构机器人结构的座椅处于打开使用状态的侧视示意图；设置有座椅110的结构可以使该基座100、背板200以及抱紧装置300设置成允许使用者以坐姿背靠在背板200上并由抱紧装置300抱紧使用者888的躯体上半部。
优选地，本实施例中的座椅110为一与基座100转动连接的折叠座板，在非使用状态下座椅110可转动折叠成紧靠基座的收回状态（如图1中状态）；在使用状态下可折叠打开与基座100呈一定角度（图8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。其中，图8中双向箭头为第二传动机构500带动抱紧装置300上下移动的状态示意。
请继续参阅图6，该实施例中机器人的抱紧装置300与背板200之间还设有臂宽调节器600，该臂宽调节器600用于调节抱紧臂（310、320）与背板200两侧边的连接位置，进而起到调节抱紧臂（310、320）内侧横向宽度的目的，使机器人的抱紧装置300可以满足不同肩宽的使用者进行使用。其中，臂宽调节器600的具体结构可以为螺栓、不同厚度的垫片或者驱动伸缩轴等。
请一并参阅图9和图10，图9是抱紧装置又一实施例的非抱紧状态俯视结构示意图；图10是图9实施例中抱紧装置抱紧状态的俯视结构示意图；其中，本实施例中的抱紧装置300包括第一抱紧臂310、第二抱紧臂320以及抱紧驱动单元330。
具体而言，该第一抱紧臂310和第二抱紧臂320分别设置于背板200的两侧。优选地，本实施例中的第一抱紧臂310和第二抱紧臂320与背板200固定连接端的相异端之间通过活动链条340连接。第一抱紧臂310、第二抱紧臂320、背板200以及活动链条340共同形成用于容纳使用者的抱紧区域302。
在本实施例中，第一抱紧臂310和第二抱紧臂320上均设有抱臂驱动单元330，抱臂驱动单元330通过控制第一抱紧臂310和第二抱紧臂320的延伸长度来改变抱紧区域302的大小，进而实现对位于抱紧区域302内使用者888的躯体上半部的抱紧、放松或者说不同抱紧力的调节。
利用活动链条340将第一抱紧臂310和第二抱紧臂320连接在一起，在抱臂驱动单元330驱动抱紧时，可以与两抱紧臂形成一抱紧区域302，活动链条340结构相对于纯刚性的抱紧臂来讲，可以减轻由于力度过大给使用者造成的伤害。
进一步地，第一抱紧臂310、第二抱紧臂320以及活动链条340在抱紧区域302内的一侧设有软质材料制成的隔垫层（图中未示）。隔垫层可以为海绵、纤维或者橡胶等材质制成，目的是在抱紧臂被驱动抱紧时，可以与使用者之间形成软接触，进而减轻挤压的疼痛感，增加使用舒适性。
其中，抱臂驱动单元330设于抱紧臂（310、320）的中部，本实施例中的抱臂驱动单元330为直线驱动电机，直线驱动电机的定子和动子分别与抱紧臂的固定端（311、321）和活动端（312、322）连接，通过改变直线驱动电机的动子与定子的相对传动位置，实现对抱紧臂（310、320）延伸长度的调节。
进一步地，该抱臂驱动单元330还可以为液压缸，液压缸的缸体和活塞杆分别与抱紧臂的固定端（311、321）和活动端（312、322）连接，通过改变液压缸的缸体和活塞杆的相对传动位置，实现对抱紧臂（310、320）延伸长度的调节。
另外，在其他实施例中，抱臂驱动单元330也可以为只设置在一个抱紧臂（310或者320）上，而另一抱紧臂的两段之间可以为滑动连接结构，通过一侧抱臂驱动单元330带动另一侧抱紧臂进行滑动，实现对两侧抱紧臂（310、320）延伸长度的调节，进而达到对位于抱紧区域302内使用者888的躯体上半部的抱紧、放松以及不同抱紧力调节的目的。
进一步地，该实施例中的机器人还可以包括第三传动机构700，该第三传动机构700与抱紧装置300连接，用于驱动抱紧装置300的抱紧臂相对于其与背板200的连接位置处转动，进而使抱紧臂向上抬起，方便使用者的躯体上半部进入到所述抱紧区域302内。其中，第三传动机构700可以为力矩电机或者力矩器等，带动抱紧臂（310或者320）绕其与背板200的连接位置处转动。
请参阅图11，图11是抱紧装置再一实施例的俯视结构示意图；其中，本实施例中的抱紧装置300包括抱紧带310以及抱紧驱动单元320。
具体而言，该抱紧驱动单元320可以通过固定板330与背板200固定连接，所述抱紧带310用于将使用者的躯体上半部抱紧并使之紧靠于所述背板200，抱紧驱动单元320通过收紧或者放宽抱紧带310来改变对使用者的躯体上半部的抱紧力，进而实现对使用者的躯体上半部的抱紧与放松。
优选地，该抱紧驱动单元320可以为驱动电机，驱动电机卷起或者放松抱紧带310，实现抱紧力的变化。而抱紧带310可以为钢丝绳或者宽体纤维、尼龙带等。
在本实施例中，抱紧带310的一端与背板200固定连接，另一端与抱紧驱动单元320驱动连接，抱紧带310与背板200共同形成抱紧区域302，在机器人的使用状态下，使用者的躯体上半部位于抱紧区域302内。
进一步优选地，本实施例中的抱紧装置300还可以包括抱紧板340，该抱紧板340的一个侧面与抱紧带310固定连接，抱紧驱动单元320通过收紧或者放宽抱紧带310实现对抱紧板340与躯体上半部的抱紧力控制。其中，抱紧板340优选采用弧形结构，在抱紧状态时，弧形的凹侧与使用者躯体上半部贴紧。本实施例中的抱紧装置300通过设置弧形结构的抱紧板340，一方面可以增大抱紧装置300与使用者躯体上半部的接触面积，另一方面可以很好地适应人体侧面的弧形结构，进而减轻抱紧装置300对使用者的挤压疼痛感，增加机器人的使用舒适性。
请参阅图12，图12是抱紧装置还一实施例的俯视结构示意图，与上一实施例不同的，本实施例中抱紧带310形成抱紧区域302，即抱紧带310形成环绕套住背板200的结构形式，在机器人的使用状态下，背板200以及使用者的躯体上半部同时位于抱紧区域302内。
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3中所示的：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16中的抱紧于使用者的腋下；此时背板贴紧使用者背部，以使使用者的躯体上半部与背板抱紧定位。
另外，该机器人还可以包括控制器以及显示单元等电子结构部分（图中未示），控制器与抱紧装置300、第一传动机构400甚至第二传动机构500（如果第二传动机构500设计需要）电连接，用于控制抱紧装置300以及第一、第二传动机构的运行状态，显示单元与控制器连接，用于显示机器人的运行状态参数等信息；其中，显示单元可以为液晶显示器或者其他具有显示功能的结构形式。
进一步地，机器人上还可以包括输入装置，用于接收用户输入的操作指令。具体地，输入装置可以为操作按键，或触摸屏，或语音识别模块，或手势识别模块等。另外，机器人内部可以设置有通信模块，通信模块与所述控制器连接，用于机器人与外部设备之间通信连接。其中，通信模块可以为有线或者无线的形式，例如无线的蓝牙，射频，wireless等，而有线的形式可以为设置一个用于连接计算机或者手机等控制设备的接口端，通过接口端与外部设备连接，进而由与之连接的控制设备进行控制机器人的动作。
从以上描述不难看出，本发明实施例中的机器人可以为自身结构设置控制器或者其他控制装置，也可以通过有线或者无线的方式与外部控制设备连接，进而形成一个控制的系统，通过外部控制设备来控制机器人的动作。请参阅图15，图15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。
进一步地，上述实施例中的抱紧装置还可以包括压力传感器（图中未示），该压力传感器具体可以设于抱紧装置的内侧。抱紧装置在抱紧使用者的过程中，压力传感器用于检测抱紧装置对使用者的抱紧力，进而协助控制单元完成对抱紧装置与使用者之间抱紧力的控制。
进一步地，本发明实施例还提供一种用于筋脊调整及康复训练的系统，请参阅图13，图13是本发明用于筋脊调整及康复训练系统一实施例的结构组成框图，该系统可以包括云端运算处理中心810以及上述实施例中所述的机器人820等组成单元。
具体地，该云端运算处理中心810与机器人820彼此之间相互通信连接并进行数据交换与共享，实现对机器人820的远端控制及云端数据分析。而关于云端运算处理中心810的具体结构特征，在本领技术人员的理解范围内，此处亦不再赘述。
相对于现有技术，本发明提供的用于筋脊调整及康复训练的系统及其机器人，该机器人通过设置抱紧装置，可将使用者的躯体上半部以直立的状态与背板抱紧定位，在机器人的运行过程中，控制抱紧装置施加不同大小的抱紧力，然后配合传动机构带动背板相对于基座向使用者的背侧翻转，可实现对使用者的筋络以及整个脊椎进行调整或者训练，该机器人的结构简单，控制方便，可以缩短对筋络以及整个脊椎的治疗或训练的周期时间，减少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。
另外，本发明实施例还提供一种筋脊调整及康复训练机器人的控制方法，请参阅图14，图14是本发明筋脊调整及康复训练机器人的控制方法一实施例的流程示意图，需注意的是，若有实质上相同的结果，本发明的方法并不以图14所示的流程顺序为限。如图所示，该方法包括以下步骤：
S100，抱紧装置对使用者的躯体上半部施加第一抱紧力。
该步骤的目的是为了使使用者的躯体上半部被预抱紧于背板。其中，抱紧装置对使用者的躯体上半部施加第一抱紧力的具体方式可以为通过气囊控制系统以一预定的气压值对抱紧气囊进行充气，譬如充入1MPa的气压值。
抱紧装置对使用者的躯体上半部施加第一抱紧力的具体方式还可以为通过抱臂驱动单元控制抱紧臂延伸某一长度，然后通过压力传感器得知抱紧装置对使用者的躯体上半部施加抱紧力的情况。
抱紧装置对使用者的躯体上半部施加第一抱紧力的具体方式也可以为通过抱紧驱动单元控制抱紧带的收缩到某一位置，然后通过压力传感器得知抱紧装置对使用者的躯体上半部施加抱紧力的情况。
S101，抱紧装置对使用者的躯体上半部施加第二抱紧力，同时第一传动机构以第一角加速度带动背板相对于基座向使用者的背侧翻转。
在步骤S101中，抱紧装置对使用者的躯体上半部施加第二抱紧力的作用是将使用者牢靠地与背板固定在一起。同时第一传动机构以第一角加速度带动背板相对于基座向使用者的背侧翻转。
优选地，第一传动机构在以第一角加速度带动背板进行向背侧转动的过程中，背板对使用者的躯体上半部产生的加速度介于1倍重力速度和2倍重力加速度之间，这样的加速度范围值可以在满足对使用者的筋脊进行有效调整或者康复训练的情况下，还可以保证不至于因为加速度过大而对筋脊造成伤害。
进一步优选地，为了达到最佳的拉伸效果，第一传动机构在带动背板向使用者背侧转动的过程中，背板的第一角加速度设置成使得背板在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，更优选为背板的角加速度设置成使得背板在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。
同样的，抱紧装置对使用者的躯体上半部施加第二抱紧力的具体方式可以为通过气囊控制系统以一预定的气压值对抱紧气囊进行充气。优选地，抱紧装置对使用者的躯体上半部施加的第二抱紧力要大于第一抱紧力。譬如给抱紧气囊充入到2MPa的气压值。而具体的气压值此处不做具体限定。第一抱紧力起到预抱紧的的作用，而第二抱紧力的要求使用者与背板可靠固定（即完全抱紧）。
抱紧装置对使用者的躯体上半部施加第二抱紧力的具体方式还可以为通过抱臂驱动单元控制抱紧臂延伸一定长度，然后通过压力传感器得知抱紧装置对使用者的躯体上半部施加抱紧力的情况。其中，由于需要第二抱紧力大于第一抱紧力，因此这一过程中抱臂驱动单元控制抱紧臂延伸的长度要小于预抱紧时延伸的长度。
抱紧装置对使用者的躯体上半部施加第二抱紧力的具体方式也可以为通过抱紧驱动单元控制抱紧带的收缩到一定位置，然后通过压力传感器得知抱紧装置对使用者的躯体上半部施加抱紧力的情况。
S102，第一传动机构以第二角加速度带动背板相对于基座进行复位翻转。
在该步骤中，优选地，第一传动机构在带动背板相对于基座进行复位翻转的第二角加速度要小于第一传动机构在带动背板相对于基座向使用者背侧翻转的第一角加速度。关于第一传动机构在带动背板相对于基座进行复位翻转的第二角加速度的具体数值，此处不做限定。其中，从抱紧装置对使用者的躯体上半部的预抱紧，到完成第一传动机构带动背板相对于基座进行复位翻转，整个过程一般只需1-4秒。
相对于现有技术，本发明提供的筋脊调整及康复训练机器人的控制方法，首先利用机器人的抱紧装置将使用者的躯体上半部以直立的状态与背板进行预抱紧定位，然后抱紧装置二次加力抱紧，同时传动机构带动背板相对于基座向使用者的背侧翻转，该方法可在短时间（一般1-4秒）内完成对使用者的筋络以及整个脊椎进行调整或者训练过程。相对于现有技术，这大大缩短了对筋络以及整个脊椎的治疗或训练的周期时间，可以减少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。
以上所述仅为本发明的部分实施例，并非因此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效装置或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (18)

  1. 一种用于筋脊调整及康复训练的机器人，其特征在于，所述机器人包括：
    基座；
    背板，设置于所述基座上且与所述基座转动连接；
    抱紧装置，设置于所述背板上，用于在使用者背靠在所述背板上时抱紧所述使用者的躯体上半部；其中，所述抱紧装置用于在机器人的不同运行阶段对使用者施加不同大小的抱紧力；
    第一传动机构，用于在所述抱紧装置抱紧所述使用者的躯体上半部的状态下传动所述背板相对于所述基座旋转。
  2. 根据权利要求1所述的机器人，其特征在于，所述抱紧装置包括第一抱紧臂、第二抱紧臂以及抱紧气囊；所述第一抱紧臂和所述第二抱紧臂分别设置于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述抱紧气囊设于所述抱紧区域内并分别与所述第一抱紧臂和所述第二抱紧臂连接，所述抱紧气囊在充气状态下填充于所述抱紧区域内，进而将位于所述抱紧区域内使用者的躯体上半部抱紧。
  3. 根据权利要求2所述的机器人，其特征在于，所述抱紧装置还包括气囊控制系统，所述气囊控制系统包括气泵、储气罐以及电磁阀，所述抱紧气囊通过连接管路与所述储气罐连接，所述电磁阀设于所述抱紧气囊与所述储气罐之间的连接管路上，所述气泵与所述储气罐连通，用于提供所述储气罐的高压气体。
  4. 根据权利要求1所述的机器人，其特征在于，所述抱紧装置包括第一抱紧臂以及第二抱紧臂，所述第一抱紧臂和所述第二抱紧臂分别设于所述背板的两侧，形成用于容纳使用者的抱紧区域，所述第一抱紧臂和/或所述第二抱紧臂上设有抱臂驱动单元，所述抱臂驱动单元通过控制所述第一抱紧臂和/或所述第二抱紧臂的延伸长度来改变所述抱紧区域的大小，进而实现对位于所述抱紧区域内使用者的躯体上半部的抱紧力的调节。
  5. 根据权利要求1所述的机器人，其特征在于，所述抱紧装置包括抱紧带以及抱紧驱动单元，所述抱紧驱动单元与所述背板固定连接，所述抱紧带用于将使用者的躯体上半部抱紧并使之紧靠于所述背板，所述抱紧驱动单元通过收紧或者放宽所述抱紧带来改变对使用者的躯体上半部的抱紧力，进而实现对所述使用者的躯体上半部的抱紧与放松。
  6. 根据权利要求1-5任一项所述的机器人，其特征在于，所述抱紧装置还包括压力传感器，所述压力传感器设于所述抱紧装置的内侧，所述抱紧装置在抱紧使用者的过程中，所述压力传感器用于检测所述抱紧装置对使用者的抱紧力。
  7. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括控制器，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。
  8. 根据权利要求7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。
  9. 根据权利要求8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。
  10. 根据权利要求7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。
  11. 一种用于筋脊调整及康复训练的机器人系统，其特征在于，包括如权利要求1-10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。
  12. 一种筋脊调整及康复训练机器人的控制方法，其特征在于，所述方法包括：
    抱紧装置对使用者的躯体上半部施加第一抱紧力，使使用者的躯体上半部被预抱紧于背板；
    抱紧装置对使用者的躯体上半部施加第二抱紧力，同时第一传动机构以第一角加速度带动背板相对于基座向使用者的背侧翻转。
  13. 根据权利要求12所述的控制方法，其特征在于，所述第二抱紧力大于所述第一抱紧力。
  14. 根据权利要求13所述的控制方法，其特征在于，所述第一传动机构以第一角加速度带动背板相对于基座向使用者的背侧翻转的步骤之后还包括：第一传动机构以第二角加速度带动背板相对于基座进行复位翻转；其中，所述第一角加速度大于所述第二角加速度。
  15. 根据权利要求12所述的控制方法，其特征在于，所述抱紧装置对使用者的躯体上半部施加第一、第二抱紧力的步骤具体为：通过气囊控制系统对抱紧气囊充入不同大小的气压，实现抱紧装置对使用者躯体上半部的不同抱紧力。
  16. 根据权利要求12所述的控制方法，其特征在于，所述抱紧装置对使用者的躯体上半部施加第一、第二抱紧力的步骤具体为：通过抱臂驱动单元控制抱紧臂延伸不同的长度，实现抱紧装置对使用者躯体上半部的不同抱紧力。
  17. 根据权利要求12所述的控制方法，其特征在于，所述抱紧装置对使用者的躯体上半部施加第一、第二抱紧力的步骤具体为：通过抱紧驱动单元控制抱紧带的收放位置，实现抱紧装置对使用者躯体上半部的不同抱紧力。
  18. 一种用于筋脊调整及康复训练的系统，其特征在于，所述系统包括云端运算处理中心以及权利要求1-10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。
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