WO2018157491A1 - System for muscle, tendon and spine adjustment and rehabilitation training, robot thereof, and usage method - Google Patents

Abstract

A system for muscle, tendon and spine adjustment and rehabilitation training, a robot (820, 1000) thereof, and a usage method. The robot (820, 1000) comprises: a base (100), a back plate (200), a holding device (300) and a first drive mechanism (400), the back plate (200) being arranged on the base (100) and rotatably connected to the base (100), the holding device (300) being arranged on the back plate (200) and used for holding the upper half of the body of a user (888) when the user (888) leans against the back plate (200), the first drive mechanism (400) being used for driving the back plate (200) to rotate with respect to the base (100) when the holding device (300) holds the upper half of the body of the user (888). The robot (820, 1000) has a simple structure, and simultaneously performs adjustment or training on the muscles, tendons and entire spine of the user (888). The effect force application range is large, and a muscle, tendon and spine adjustment and rehabilitation training process can be carried out on the user (888) within a short time, thereby shortening a treatment or training period, and reducing pain caused to the user (888) by lengthy treatment times and uncomfortable treatment postures.

Description

System for ridge adjustment and rehabilitation training, robot thereof, and use method

[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, a robot and a using method 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]

Embodiments of the present invention provide a ridge adjustment and rehabilitation training system for a human body, a robot thereof, and a use method 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 robot for ridge adjustment and rehabilitation training, the robot comprising:

Pedestal

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

a 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 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, in the process of the first transmission mechanism driving the backboard, the backplane generates an acceleration of 1 times the gravity speed and 2 times the gravity acceleration on the upper half of the user's body. between.

In accordance with a preferred embodiment of the present invention, during the transmission of the backing plate by the first transmission mechanism, the angular acceleration of the backing plate is set such that the backing plate rotates 5-25 degrees in one second.

According to a preferred embodiment of the invention, the backing plate is arranged such that the upper body of the user is allowed to rest against the backing plate in an upright position before the backing plate is turned over.

According to a preferred embodiment of the present invention, the backing plate is arranged to drive the lower half of the body of the user to be suspended during the turning of the backing plate.

According to a preferred embodiment of the present invention, the robot further includes a second transmission mechanism, which is respectively coupled to the backboard and the holding device for adjusting the hug relative to the backboard The position of the device is tightened to adjust the position of the gripping device to the upper half of the body.

In accordance with a preferred embodiment of the present invention, the base, the backing plate, and the clasping device are configured to allow the user to rest in a standing position against the backing plate and hold by the clasping device The upper half of the body of the user.

According to a preferred embodiment of the present invention, the robot further includes a seat, the base, the backboard and the clasping device are arranged to allow the user to rest in a sitting position on the backboard and The clasp device holds the upper half of the body of the user.

According to a preferred embodiment of the present invention, the seat is a folding seat plate rotatably coupled to the base, and the seat is rotatably folded into a retracted state against the base in a non-use state.

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

In accordance with a preferred embodiment of the present invention, the robot further includes a neckrest plate coupled to the top side of the backing plate for abutting the back of the user when the user is resting against the backing plate Or the back neck position.

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.

In order to solve the above technical problem, the present invention further provides a robot system for ridge adjustment and rehabilitation training, the system comprising the robot and the control device according to any of the above embodiments, the control device and the The robot communicates and controls the operation of the robot.

In order to solve the above technical problem, another aspect of the present invention provides a method of using the robot according to any one of the above embodiments, the method comprising:

Positioning the upper part of the user's body in the tight area formed by the clasping device and the backboard;

The holding device holds the user's upper body half and the back plate in a tight position;

The first transmission mechanism drives the back plate to rotate, and combines the gravity of the lower half of the user's body to adjust the ridge of the user.

According to a preferred embodiment of the present invention, the step of holding the upper half of the user's body and the backboard by the holding device comprises: holding the clasping device in the back of the user's hands, holding the back of the neck, hands Cross the upper arm, the outer side of the elbow joint under the shoulder, or hold it under the user's armpit; at this time, the back panel is in close contact with the user's back so that the user's upper body and the back panel are in a tight position.

Further, 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.

Compared with the prior art, the present invention provides a ridge adjustment and rehabilitation training system for a human body, a robot thereof, and a use method thereof, wherein the holding device holds the upper half of the user's body in an upright state and the back plate. Then, the transmission mechanism is used to drive the back plate to flip toward the back side of the user with respect to the base. The utility model has the advantages of simple structure, can adjust or train the user's tendons and the entire spine at the same time; by controlling the turning speed of the transmission mechanism, the force for adjusting the user's tendons and the rehabilitation training process can be adjusted, and the force application range is large. The process of adjusting the user's tendons and rehabilitation can be completed in a short time, shortening the treatment or training cycle, and reducing the pain caused by the user's long treatment time or uncomfortable treatment posture.

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

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

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

Figure 4 is a top plan view of the ridge adjustment and rehabilitation training robot of the embodiment of Figure 1;

Figure 5 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 6 is a side elevational view of the seat with the seat structure robot structure in an open state of use;

7 is a schematic flow chart of a preferred embodiment of a method for using a ridge adjustment and rehabilitation training robot of the present invention;

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

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

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

【detailed description】

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

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

Specifically, the pedestal 100 functions to support and fix the entire robot. During the operation of the robot, it does not move or sway, and the purpose is to keep the overall structure of the robot in a stable state.

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

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

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

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

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. 4. FIG. 4 is a top plan view of the ridge adjustment and rehabilitation training robot 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 8000 for the purpose of adjusting or rehabilitating the user's ridges; see FIG. 5, FIG. 5 is Fig. 3 is a side elevational view showing the ridge adjustment and rehabilitation training robot flipping under the state of 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.

Preferably, referring to FIG. 1 and FIG. 2, the robot further includes a second transmission mechanism 500, which is respectively coupled to the backboard 200 and the clasping device 300 for adjusting the tightness relative to the backboard 200. The position of the device 300, in turn, adjusts the position of the gripping device 300 to the upper half of the user's torso. The second transmission mechanism 500 is specifically configured to change the fixed position of the holding device 300 in the vertical height direction of the backboard 200 to meet the user's needs of different heights or the holding device 300 can hold the user's different body. Half position.

In this embodiment, the second transmission mechanism 500 is specifically configured to provide a plurality of adjustment holes on the side of the back plate 200, and then cooperate with the adjustment holes by the pins to realize the different positions of the holding device 300 and the back plate 200 at different height positions. Cooperate. In addition, in other embodiments, the second transmission mechanism 500 may also be a structural form 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 second transmission mechanism 500. Those skilled in the art can select or design according to the functional requirements of the second transmission mechanism 500, and details are not described herein again.

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. 6 together. FIG. 6 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. Here, the arrow in FIG. 6 indicates that the holding device 300 can be moved up and down along the back plate 200 under the adjustment of the second transmission mechanism 500.

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. 6), 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 500 (if the second transmission mechanism 500 is designed The electrical connection is used to control the operating state of the holding device 300 and the first and second transmission mechanisms, and the display unit is connected to the controller for displaying information such as the operating state parameter of the robot; wherein the display unit may be a liquid crystal display Or other structural forms with display capabilities.

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

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

Compared with the prior art, the present invention provides a ridge adjustment and rehabilitation training robot for a human body, and the holding device can hold the upper part of the user's body in an upright state and the back plate, and then utilize the transmission mechanism. The driving back plate is turned over to the back side of the user with respect to the base. The utility model has the advantages of simple structure, can adjust or train the user's tendons and the entire spine at the same time; by controlling the turning speed of the transmission mechanism, the force for adjusting the user's tendons and the rehabilitation training process can be adjusted, and the force application range is large. The process of adjusting the user's tendons and rehabilitation can be completed in a short time, shortening the treatment or training cycle, and reducing the pain caused by the user's long treatment time or uncomfortable treatment posture.

In addition, the embodiment of the present invention further provides a method for using the robot in the foregoing embodiment. Please refer to FIG. 7. FIG. 7 is a schematic flowchart of a preferred embodiment of a method for using a ridge adjustment and rehabilitation training robot according to the present invention. The method includes, but is not limited to, the following steps.

In step S710, the upper part of the user's body is placed in the holding area formed by the holding device and the backboard.

In this step, the fixing position of the holding device and the back plate may be changed by adjusting the second transmission mechanism, thereby adapting the holding device to different height users and different holding position requirements. As described in the foregoing embodiments, the user can use the robot in a standing or sitting position.

In step S720, the holding device holds the user's upper body half and the back plate in a tight position.

In step S720, the preferred holding form of the clasping device may be as shown in FIG. 3: the clasping device is held tightly on the back of the elbow joint of the user's hands, the back of the head, the back neck, the arms crossed, and the shoulders. Or, it is held under the armpit of the user in FIG. 10; at this time, the backboard is in close contact with the back of the user, so that the upper half of the user's body and the backboard are in a tight position. Of course, the holding form of the robot to the user is not limited to the above-mentioned form, and the holding device can also be directly held at any position on the upper half of the user's body, which will not be enumerated here.

In step S730, the first transmission mechanism drives the back plate to rotate, and combines the gravity of the lower half of the user's body to adjust the ridge of the user.

Wherein, in the process that the first transmission mechanism drives the backboard (together with the user's upper body half) to the user's back side with respect to the base, the lower half of the user's body can be suspended and used. The gravity of the lower part of the body increases the tensile force on the ridge of the user. This situation may have a large tensile force, but it may not be suitable for all users. Of course, depending on the situation of different users. Different roll 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.

Preferably, in the embodiment, during the driving of the backing plate by the first transmission mechanism, the acceleration generated by the backboard to the upper half of the user's body is between 1 times the gravity speed and 2 times the gravity acceleration. The acceleration range value can ensure that the ridges are not damaged due to excessive acceleration if the user's ribs are effectively adjusted or rehabilitated.

Further preferably, in order to achieve an optimal stretching effect, the first transmission mechanism drives the backing plate to rotate, and the angular acceleration of the backboard is set such that the backing plate rotates 5-25 degrees in 1 second, 1 second. The greater the angle of internal rotation, 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 is rotated 10-20 degrees in one second. The value of the specific angular acceleration of the robot during use can be specifically set according to the user's situation.

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

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

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

Claims (19)

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

   Pedestal

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

   a 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 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 during the driving of the backing plate by the first transmission mechanism, the backing plate generates an acceleration of 1 times the gravity of the upper half of the user's body. Between 2 and gravitational acceleration.
3. The robot according to claim 1, wherein during the driving of the backing plate by the first transmission mechanism, an angular acceleration of the backing plate is set such that the backing plate rotates within 1 second. -25 degree.
4. The robot according to claim 1, wherein the backing plate is disposed such that the upper portion of the body of the user is backed against the backing plate in an upright state before the backing plate is turned over.
5. The robot according to claim 4, wherein the backing plate is arranged to drive the lower half of the body of the user to be suspended during the turning of the backing plate.
6. The robot according to claim 1, wherein said robot further comprises a second transmission mechanism, said second transmission mechanism being coupled to said back plate and said holding device, respectively, for opposing said 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.
7. The robot according to claim 4, wherein said base, said backing plate and said holding means are arranged to allow said user to stand back against said backing plate in a standing position and said The clasp device holds the upper half of the user's body.
8. The robot according to claim 4, wherein the robot further comprises a seat, the base, the backboard and the holding device are arranged to allow the user to rest in the seated posture The user's upper body half is held by the holding device on the back panel.
9. The robot according to claim 8, wherein the seat is a folding seat plate rotatably coupled to the base, and the seat is rotatably folded to abut the base in a non-use state Retracted state.
10. The robot according to claim 1, wherein said backing plate is curved, and said holding means is for holding the upper half of the body to the concave side of the curved backing plate.
11. The robot according to claim 1, wherein the robot further comprises a neck plate, the neck plate being coupled to the top side of the back plate for abutting when the user rests against the back plate Relying on the user's back or neck position.
12. 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.
13. The robot according to claim 12, wherein said robot further comprises input means for receiving an operation command input by the user.
14. The robot according to claim 13, wherein the input means comprises an operation button, or a touch screen, or a voice recognition module, or a gesture recognition module.
15. The robot according to claim 12, 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.
16. A robot system for ridge adjustment and rehabilitation training, comprising: the robot according to any one of claims 1 to 15 and a control device, wherein the control device is communicably connected with the robot, and controls the The operation of the robot.
17. A method of using the robot of any one of claims 1 to 15, wherein the method comprises:

    Positioning the upper part of the user's body in the tight area formed by the clasping device and the backboard;

    The holding device holds the user's upper body half and the back plate in a tight position;

    The first transmission mechanism drives the back plate to rotate, and combines the gravity of the lower half of the user's body to adjust the ridge of the user.
18. The method according to claim 17, wherein the step of holding the upper half of the user's body and the back plate by the holding device comprises: holding the holding device and holding the back of the user's hands Hold the back neck, hands clasping the upper arm, holding the outside of the elbow joint under the shoulder, or holding it under the user's armpit; at this time, the back panel is close to the user's back so that the user's upper body and back are The board is tightly positioned.
19. A system for ridge adjustment and rehabilitation training, the system comprising a cloud computing processing center and the robot according to any one of claims 1 to 15, the cloud computing processing center and the robot performing data Exchange and share to realize remote control and cloud data analysis of the robot.