WO2019242316A1 - 训练仪 - Google Patents

训练仪 Download PDF

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Publication number
WO2019242316A1
WO2019242316A1 PCT/CN2019/075353 CN2019075353W WO2019242316A1 WO 2019242316 A1 WO2019242316 A1 WO 2019242316A1 CN 2019075353 W CN2019075353 W CN 2019075353W WO 2019242316 A1 WO2019242316 A1 WO 2019242316A1
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WO
WIPO (PCT)
Prior art keywords
traction
training apparatus
valve
inflation
rubber tube
Prior art date
Application number
PCT/CN2019/075353
Other languages
English (en)
French (fr)
Inventor
薛帮灿
刘彦军
姜太声
张栋
贾涛
邓立广
柏健
金文峰
嵇洪强
龙哲华
孟佳
Original Assignee
京东方科技集团股份有限公司
北京京东方光电科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京东方科技集团股份有限公司, 北京京东方光电科技有限公司 filed Critical 京东方科技集团股份有限公司
Priority to EP19762280.6A priority Critical patent/EP3811911B1/en
Priority to US16/492,571 priority patent/US11439565B2/en
Priority to JP2020536581A priority patent/JP2021529563A/ja
Publication of WO2019242316A1 publication Critical patent/WO2019242316A1/zh

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    • 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
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • A61H1/0296—Neck
    • 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
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
    • 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
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A61F5/05—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for immobilising
    • A61F5/055—Cervical collars
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0103—Constructive details inflatable
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • A61H2201/0169—Noise reduction
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1609—Neck
    • A61H2201/1611—Holding means therefor
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5056—Control means thereof pneumatically controlled
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/04—Devices for specific parts of the body neck

Definitions

  • the present disclosure relates to the field of wearables, and more specifically to training devices.
  • cervical diseases such as cervical disc herniation, cervical spondylosis and periarthritis.
  • the neck disease is prone to recurrence, the recovery time is long, and the cost of professional treatment and rehabilitation training is high, and it is because the patient has difficulty moving.
  • the neck is dominated by professional medical equipment with multi-degree-of-freedom traction motion.
  • the characteristics of these equipment include at least a complex structure, a large volume, an expensive construction, and difficult to operate.
  • An object of the present disclosure is to provide a training apparatus for cervical spine rehabilitation treatment.
  • a training apparatus including a top member, a bottom member, and a traction member disposed between the top member and the bottom member, wherein the traction member is configured to be along the top member or the bottom member.
  • the telescopic axis is telescopic to achieve relative movement between the top member and the bottom member.
  • the traction member includes a plurality of traction sub-members, each of the plurality of traction sub-members being configured to be independently expandable and contractible in the axial direction.
  • the top bracket and the bottom bracket are ring structures, and the plurality of traction sub-members are disposed on the bottom bracket and connected to the top bracket, and the plurality of traction sub-members The members are sequentially spaced along the annular structure.
  • each of the plurality of traction sub-members includes an inflatable stack structure, each stack in the stack structure along the bottom member toward the top The components are stacked in a direction, and the stacked structure is configured to be flat in an uninflated state and stretched in an inflated state, and the relative movement between the top member and the bottom member is realized by inflation and deflation.
  • the number of the plurality of traction sub-members is 7-9.
  • the laminated structure includes a plurality of rubber tubes stacked and communicating with each other.
  • the top rubber tube and the bottom rubber tube each have one opening, and the rubber tube located between the top rubber tube and the bottom rubber tube has two upper and lower openings. Adjacent rubber tubes communicate through adjacent openings.
  • the side of each of the top rubber tube and the bottom rubber tube adjacent to the adjacent rubber tube is provided with two card slots located on both sides of the opening and extending along the opening direction.
  • a side of the top bracket close to the rubber tube is provided with a first card slot matched with a groove of the top rubber tube; a side of the bottom bracket close to the rubber tube is provided with The clamping groove of the bottom rubber tube matches the second clamping groove connected.
  • a side of the top bracket away from the rubber tube is provided with a first groove, and the first groove is configured to receive the top member; the bottom bracket is far from the rubber tube.
  • a second groove is provided on one side, and the second groove is configured to receive the bottom member.
  • the top member and the bottom member are circular annular airbags.
  • the circular ring-shaped airbag of the top member includes a notch and two protrusions, and the two projections are an inflatable structure designed integrally with the circular ring-shaped airbag. .
  • the training apparatus further includes a driving device configured to control the retractability of the plurality of traction sub-members, wherein the driving device includes:
  • An inflation mechanism configured to inflate a laminated structure
  • a plurality of on-off valve pairs configured to separately control inflation and deflation of each laminated structure, each on-off valve pair including an inflation valve and a bleed valve;
  • a control mechanism configured to control the inflation mechanism and the plurality of on-off valve pairs.
  • the inflation and deflation valves are solenoid or electric valves, and the inflation and deflation valves are independently controllable.
  • the inflation mechanism includes: one or more air pumps configured to generate a source gas; an air bag configured to be connected to the air pump to store the source gas; and a gas
  • An air inlet valve is connected to the air outlet of the bag, and the control mechanism is configured to control the opening and closing of the air inlet valve.
  • the inflation mechanism further includes a first air pressure sensor connected between the air pump and the air bag, configured to sense an internal pressure of the air bag, wherein the control mechanism is configured to :
  • the air pump is turned off when the sensed pressure is greater than the upper threshold, and the air pump is turned on when the sensed pressure is less than the lower threshold.
  • each of the plurality of on-off valve pairs further includes: a second air pressure sensor provided at an air outlet end of the inflation valve, configured to sense a pressure in the laminated structure. Air pressure, wherein the control mechanism is configured to open or close the inflation valve and / or the air release valve according to the air pressure sensed by the second air pressure sensor.
  • the inflation mechanism further includes a pneumatic triplet connected between the intake valve and the on-off valve pair, which is configured to control the highest pressure value flowing into the stacked structure.
  • the driving device further includes a memory configured to store the operation steps of the predetermined traction action, and the control mechanism is configured to control according to the operation steps of the predetermined traction action stored in the memory.
  • the plurality of on-off valve pairs are configured to control according to the operation steps of the predetermined traction action stored in the memory.
  • each of the plurality of on-off valve pairs includes a muffler, and the muffler is disposed at an air outlet end of the purge valve.
  • the predetermined traction action includes forward and backward flexion motion of the sagittal plane, left and right flexion motion of the coronal plane, rotation motion of the horizontal plane, and stretching in the vertical direction. Traction.
  • FIG. 1a schematically illustrates a perspective front view of a training apparatus according to some embodiments of the present disclosure
  • FIG. 1b schematically illustrates a cross-sectional view of a training apparatus according to some embodiments of the present disclosure
  • FIGS. 2a, 2b, 2c, 2d, and 2e respectively schematically illustrate perspective views of a top member, a top bracket, a bottom bracket, a bottom member, and a traction member of a training apparatus according to some embodiments of the present disclosure
  • 3a and 3b are schematic cross-sectional views of a traction sub-member of a training device according to some embodiments of the present disclosure in an uninflated state and an inflated state, respectively;
  • 4a and 4b are respectively a front view and a side view schematically showing a wearing effect of a training apparatus according to some embodiments of the present disclosure
  • FIG. 5 schematically illustrates a perspective view of a training apparatus according to other embodiments of the present disclosure
  • FIG. 6 schematically illustrates a hardware structure block diagram of a driving device of a training apparatus according to some embodiments of the present disclosure
  • FIG. 7 schematically illustrates a pneumatic circuit and a control principle diagram of a training apparatus according to some embodiments of the present disclosure
  • FIG. 8 schematically illustrates a physical connection diagram of components of a training apparatus according to some embodiments of the present disclosure.
  • FIG. 9 schematically illustrates an operation flowchart of a training apparatus according to some embodiments of the present disclosure.
  • a training apparatus may include a top member 101, a bottom member 102, and a traction member 103 disposed between the top member 101 and the bottom member 102, wherein the traction member 103 is configured to be along the The top member 101 or the bottom member 102 is axially retractable to achieve relative movement between the top member 101 and the bottom member 102.
  • the traction member 103 is extended and contracted axially, thereby achieving the purpose of assisting activities such as the neck, joints and the like that require active parts.
  • the training apparatus can assist normal people in performing neck movements, or assist patients with cervical spondylosis to move necks to relieve or treat pain.
  • the training device is simple in structure, portable, light, and low in cost, and is suitable for home exercise or rehabilitation treatment.
  • the top member and the bottom member may be ring-shaped structures
  • the traction member may also be a ring-shaped structure that matches the top member and the bottom member and is trained
  • the target part extends into the annular structure and can be assisted in the movement state of the traction member in the axial expansion and contraction.
  • the training apparatus may be a training apparatus used at a certain active position of the subject to be trained, such as a training apparatus used at the joints of the neck, arms, and legs of humans and animals.
  • a neck training apparatus is mainly used as an example for explanation.
  • the traction member includes a plurality of traction sub-members, each of the plurality of traction sub-members being configured to be independently retractable in the axial direction. Because the traction sub-members can be controlled independently of each other, this can adapt to the autonomous activities of the trainee. For example, when the object moves in a certain direction, multiple traction sub-members can be controlled to adapt to the direction of movement of the trainee, respectively. The positive effects of training reduce the negative effects of training.
  • the training apparatus according to the present disclosure further includes a top bracket disposed between the top member and the traction member, and a bottom bracket disposed between the bottom member and the traction member.
  • the training apparatus may further include a top bracket 104 provided between the top member 101 and the traction member 102 for receiving and fixing the top member 101, and a bottom member 102.
  • the traction member 103 may be detachably connected between the top bracket 104 and the bottom bracket 105.
  • FIGS. 2a-2e schematically illustrate perspective views of various constituent components of a training apparatus according to some embodiments of the present disclosure, respectively.
  • the top member 101 and the bottom member 102 may be flexible members, such as the circular airbag shown in FIGS. 2a and 2d, that is, the top airbag and the bottom airbag. Since the top member 101 and the bottom member 102 need to be in direct contact with a subject to be trained (eg, a human body), the use of a member such as an airbag can improve the wearing comfort.
  • the top and bottom airbags may take the form of inflatable airbags. As shown in Figures 2a and 2d, the top airbag and the bottom airbag can be in the shape of a circular ring similar to a tire after inflation.
  • the top and bottom airbags can be left uninflated before the training device is worn, so that they can be worn, stored and carried. After inflation, the airbag has a certain degree of elasticity and flexibility. The trainer achieves wearing comfort during operation.
  • the top airbag in the inflated state, due to the better flexibility and toughness of the air, the top airbag can fully contact the wearer's head, support the wearer's head weight, and also directly exert force when traction neck movement point.
  • the inflation and deflation of the top and bottom airbags can be performed by means of an external electric or manual air pump, or they can be controlled by a dedicated control device.
  • the top member 101 may include a notch 101a configured to correspond to the position of the chin (commonly known as the chin) of the wearer to fit the chin when worn by the wearer. Thereby improving wearing comfort.
  • the top member 101 may further include at least one protrusion 101b configured to support the wearer's neck and / or head (for example, two protrusions 101b corresponding to the position of a human shoulder are shown in FIG. 2a). ).
  • the at least one protrusion 101b shown is mainly used to contact the neck and / or head of the human body to support the neck or head when worn, and therefore its structure should be similar to the contour of the corresponding part of the human neck and / or head Adapt to further improve wearing comfort.
  • the top member 101 is a circular ring-shaped airbag
  • the at least one protrusion 101b is an inflatable structure designed integrally with the circular ring-shaped airbag.
  • FIG. 2b illustrates a top bracket 104 of a training apparatus according to some embodiments of the present disclosure.
  • the top bracket 104 may include a first groove 104 c for receiving the top member 101.
  • the top bracket 104 may include a notch 104b corresponding to the notch 101a of the top airbag 101 carried by the top bracket 104 as shown in FIG. 2a.
  • a lower portion of the top bracket 104 may be provided with a first clamping slot 104 a (not shown in FIG. 2 b) for connecting with the traction member 103.
  • FIG. 2c illustrates a bottom bracket 105 of a training apparatus according to some embodiments of the present disclosure.
  • the bottom bracket 105 may be circular, and an upper portion thereof is provided with a second clamping slot 105b for connecting with the traction member 103.
  • the bottom bracket 105 may also be provided with a notch 105c for receiving a connection member connected to an external device.
  • the connection member connected to an external device.
  • the lower portion of the bottom bracket 105 may be provided with a second groove 105 d (not shown in FIG. 2 c) similar to the first groove 104 c of the top bracket 104 for receiving the bottom member 102.
  • the first groove 104 c of the top bracket 104 and the second groove 105 d of the bottom bracket 105 may be annular grooves, and The opening directions are opposite, that is, the first groove 104c faces upward and the second groove 105d faces downward.
  • the top member 101 and the bottom member 102 may be connected to the top bracket 104 and the bottom bracket 105 by a detachable manner, for example, a snap-fit manner.
  • the top member 101 and the bottom member 102 are circular annular inflatable airbags, as shown in FIG. 1b, in the inflated state, the top member 101 and the bottom member 102 are respectively engaged with the first groove 104c of the top bracket 104 and In the second groove 105d of the bottom bracket 105.
  • the inner diameter of the circular cross section of the first groove 104c in the upper part of the top bracket 104 is the same as the outer diameter of the circular cross section of the top member 101, thereby achieving a close fit between the two. match.
  • the height value of the first groove 104c in the upper part of the top bracket 104 exceeds the value of the inner diameter of its circular cross section and is bent inward at a certain angle on both sides of the tail of the first groove 104c, so that the top member 101 is in an inflated state, It can be more firmly snapped into the first groove 104c of the top bracket 104, so as to be integrated into a whole and not easily separated, so that the top bracket 104 plays a role of fixing the top member 101.
  • the inner diameter of the circular section of the lower second groove 105d of the bottom bracket 105 is the same as the outer diameter of the circular section of the bottom member 102, thereby achieving a close fit between the two. match.
  • the height value of the lower second groove 105d of the bottom bracket 105 exceeds the inner diameter value of its circular cross section and is bent inward at a certain angle on both sides of the tail portion of the second groove 105d, so that the bottom member 102 can
  • the second bracket 105 is more firmly snapped into the second groove 105 d of the bottom bracket 105 so as not to be separated therefrom, so that the bottom bracket 105 plays a role of fixing the bottom member 102.
  • the traction member 103 may be a retractable structure, such as an inflatable laminated structure, which has an upper groove 103a and a lower groove 103b, and the upper groove 103a and the lower groove 103b are respectively It is configured to match the first card slot 104 a in the lower portion of the top bracket 104 and the second card slot 105 b in the upper portion of the bottom bracket 105. Therefore, when connecting, the upper groove 103a of the traction member 103 is directly engaged with the first groove 104a of the top bracket 104; the lower groove 103b of the traction member 103 is directly engaged with the second groove 105b of the bottom bracket 105. .
  • FIG. 2e illustrates a plurality of traction sub-members 1031 to 1038 of the traction member 103 of the training device according to the present disclosure.
  • the traction member 103 of the training device may include a plurality of traction sub-members 1031 to 1038, wherein each of the traction sub-members 1031 to 1038 may be configured to be independently movable along the top member 101 or the bottom The member 102 is axially retractable.
  • the top bracket 104 and the bottom bracket 105 are ring-shaped structures, and the plurality of traction sub-members 1031 to 1038 are disposed on the bottom bracket 105 and connected to the top bracket 104.
  • a plurality of traction sub-members 1031 to 1038 are sequentially spaced along the annular structure.
  • the neck movement of the human body is mainly performed by the contraction and stretching of the muscle tissue distributed around the neck to complete the multi-degree-of-freedom movement of the human neck.
  • the complex and delicate muscle tissue can be ignored, and the muscle tissue that plays the role of sports traction can be simplified into several major muscle tissues. For example, it can be simplified.
  • Each main muscle tissue around the neck that functions as a motor traction is contracted and stretched to drive the top member 101 to complete multi-directional, multi-angle, and multi-dimensional traction activities on the human neck.
  • axial usually refers to cylindrical objects, that is, the direction of the central axis of rotation of the cylinder, that is, the direction common to the central axis. Therefore, “axial movement” is movement in the axial direction, that is, movement in the direction of the rotation central axis.
  • the top member, the bottom member, the traction member, and the like are generally circular, and thus belong to a cylindrical object with a symmetrical rotation center.
  • the "axial telescopic or axial movement" of the traction member or traction sub-member described herein refers to the movement along the center axis of rotation of the top member, the bottom member or the traction member, that is, the movement in a generally vertical direction, This can drive the top member to pull the neck.
  • the axial telescopic movement of each of the plurality of traction sub-members 1031-1038 can be performed individually or independently to drive the top member to move, thereby achieving flexible traction on the neck.
  • some or all of the plurality of traction sub-members 1031-1038 may also be axially extended and contracted in a coordinated manner to achieve diversified neck traction.
  • the traction sub-members 1031-1038 as shown in FIG. 2e may be configured with the erector spinae muscles directly behind the neck, as described above, the left trapezius muscles at the left rear, and the left chest at the left.
  • the positions of the muscles correspond, so that the contraction and / or stretching movement of the corresponding muscle tissue can be simulated, and the telescopic movements of the various traction sub-members 1031-1038 cooperate with each other to achieve, for example, at least 4 degrees of freedom traction activities, including, but not limited to, vector The forward flexion / back extension of the plane, the left flexion / right flexion of the coronal plane, the rotation of the horizontal plane, and the vertical traction motion.
  • Coronary plane left flexion / right flexion exercise the third traction sub-member 1033 corresponding to the left sternocleidomastoid muscle is stretched in the vertical axial direction, and the seven traction subunits corresponding to the right sternocleidomastoid muscle The component 1037 performs a retraction movement in the vertical axis, thereby driving the wearer's neck to complete the right flexion movement of the coronal plane. Conversely, the seventh traction sub-member 1037 is extended in the vertical axis while the third traction The sub-member 1031 performs a retraction movement in the vertical axis direction, thereby driving the wearer's neck to complete the left flexion of the coronal plane.
  • the fourth traction sub-member 1034 corresponding to the left cervical latissimus muscle is only stretched in the vertical axis, and the eighth traction sub-member 1038 corresponding to the right trapezius muscle is retracted in the vertical axis.
  • the human neck can be flexed toward the right and rear; on the contrary, the eighth traction sub-member 1038 can be stretched in the vertical axis, and the fourth traction sub-member 1034 can be retracted in the vertical axis.
  • the neck bends toward the front left.
  • the sixth traction sub-member 1036 corresponding to the right cervical latissimus muscle is only stretched in the vertical axis, and the second traction sub-element 1032 corresponding to the left trapezius muscle is retracted in the vertical axis.
  • the human neck can be flexed to the left and rear; on the contrary, the second traction sub-member 1032 can be stretched in the vertical axis, and the sixth traction sub-member 1036 can be retracted in the vertical axis. The neck bends toward the front right.
  • the first, second, third, fourth, fifth, sixth, seventh, and eighth traction sub-members of the square muscles 1031-1038 perform stretching exercises in the vertical axis in a clockwise order, and simultaneously
  • the traction sub-member opposite to the member performs a retraction movement in the vertical axis, that is, while the first traction sub-member 1031 performs the stretching movement, the fifth traction sub-member 1035 opposite thereto performs the retraction movement in the vertical axis.
  • the sixth traction sub-member 1036 opposite to the second traction sub-member 1036 is vertically retracted, and the third traction sub-member 1033 is extended while opposing the third traction sub-member 1033
  • the seventh traction sub-member 1037 performs a retraction movement in the vertical axis.
  • the eighth traction sub-member 1038 opposite thereto performs a retraction movement in the vertical axis.
  • the sub-member 1035 While the sub-member 1035 is performing a stretching motion, the first traction sub-member 1031 opposite thereto is retracted in the vertical axis direction, and the sixth traction sub-member 1036 is performing a stretching motion while the second traction sub-member opposite thereto is made.
  • the component 1032 performs a retraction motion in the vertical axis. While the seventh traction sub-member performs the 1037 stretching motion, the third traction sub-element 1033 opposite thereto performs the retraction motion in the vertical axis.
  • the fourth traction sub-member 1034 opposite to the member 1038 performs a retraction movement in the vertical axis direction, so as to drive the wearer's neck to complete the clockwise rotation movement in the horizontal plane.
  • the messenger's eight traction sub-members 1031-1038 perform a stretching motion in the vertical axis in a counterclockwise order, at the same time, the retracting movement of the traction sub-member opposite to the stretching traction sub-member can be driven, The wearer's neck completes a counterclockwise rotation of the horizontal plane.
  • the vertical direction that is, the axial direction
  • stretching traction motion Simultaneously make 8 traction sub-members 1031-1038 perform stretching motion in the vertical axis direction at the same time, which can drive the wearer's neck to complete the vertical stretching traction motion .
  • the training apparatus uses a plurality of retractable traction sub-members 1031-1038 corresponding to the positions of a plurality of main muscle tissues that play a traction function around the neck, respectively, to simulate the expansion and contraction of the corresponding muscle tissues, thereby Multi-degrees of freedom (ie multi-angle, multi-direction, multi-dimensional) traction and stretching movements of the neck are realized to achieve the purpose of neck and cervical rehabilitation training.
  • the above 4 degrees of freedom traction motion is only an example or as a preset traction motion mode to achieve basic traction stretching of the neck. Based on this, users can design many personalized traction motion modes according to their own needs and actual conditions.
  • each traction sub-member may be controlled cooperatively or independently.
  • the control of each traction sub-member may be performed simultaneously, or there may be a time difference between each other. In this way, the traction sub-members can cooperate with each other to complete the driving of the top bracket and the top member, thereby completing the rehabilitation training task for the neck of the user (that is, the wearer).
  • the retractable traction member simulates the neck muscle tissue to realize the neck traction of the wearer, so as to reduce the compression of the cervical spine by the head, relieve the neck muscle spasm, and increase the intervertebral body Distance to relieve the compression or stimulation of the nerve roots, muscles and cervical spine of the neck, in order to achieve the purpose of training the neck muscles and treating cervical spondylosis.
  • the cervical spine rehabilitation training apparatus uses the top and bottom members to directly contact the neck and / or the head and the surrounding skin, thereby achieving comfortable wearing and stretching. Therefore, the training device of the present disclosure has the advantages of simple structure, flexible portability, comfortable wearing, low cost, and the like, and can be widely applied to the field of home rehabilitation medical services.
  • FIG. 3a-3b illustrate cross-sectional views of a traction sub-member of a training device in an uninflated state and an inflated state according to some embodiments of the present disclosure.
  • the plurality of traction sub-members may be an inflatable structure as shown in the figure, that is, stretched by inflation and contracted by deflation. For clarity of description, only one traction sub-member 1031 is shown in Figs. 3a and 3b.
  • the retractable traction sub-member 1031 may be, for example, an inflatable stacking structure 1031, and each stack in the stacking structure 1031 is stacked along the bottom member toward the top member.
  • the laminated structure 1031 is configured to be flat in an uninflated state and stretched in an inflated state, and the relative movement between the top member and the bottom member is achieved by inflation and deflation.
  • the laminated structure 1031 may have an inner cavity. When the inner cavity is not inflated (as shown in FIG. 3a), the laminated structure 1031 is flat. When the inner cavity is inflated (as shown in FIG.
  • the inner cavity inflation pressure is increased, the laminated structure is bulged, and the vertical direction is extended, that is, the axial direction is extended.
  • This will generate an axial driving thrust, driving the top bracket and the top airbag, thereby pushing the wearer's neck to perform axial movement to achieve neck or cervical spine rehabilitation training. Therefore, when an inflatable structure, especially an inflatable laminated structure 1031 is used as a retractable traction sub-member, the axial traction of the neck can be achieved simply by inflation and deflation.
  • the length of the axial extension of the inflatable laminated structure 1031 can also be controlled by controlling the amount of inflation of the inflatable laminated structure 1031.
  • the number of the plurality of traction sub-members is 7-9, for example, as shown in FIG. 2e, it may be 8.
  • the upper end and the lower end of the inner cavity of the laminated structure 1031 extend to the positions of the upper card slot 103a and the lower card slot 103b, respectively. In this way, as shown in FIG. 1b, in the inflated state, the internal pressure of the laminated structure 1031 increases, and the upper end and the lower end of the inner cavity swell, and the upper and lower clamping grooves 103a and 103b of the two sides are respectively squeezed to make them tight.
  • the traction sub-member 1031 may also adopt a telescopic structure that can be controlled by mechanical principles, such as a spring or a structure similar to a fire-fighting elevator.
  • the laminated structure 1031-1038 may be made of a rubber tube, because the low ductility of the rubber tube can prevent expansion and elastic deformation to prevent it from becoming uncontrollable, and its toughness can increase its Pressure endurance.
  • the laminated structure 1031-1038 may include a plurality of rubber tubes stacked and communicating with each other.
  • the top rubber tube and the bottom rubber tube each have an opening, and the rubber located between the top rubber tube and the bottom rubber tube
  • the tube has two upper and lower openings, and adjacent rubber tubes communicate through the adjacent openings.
  • a side of each of the top rubber tube and the bottom rubber tube adjacent to the adjacent rubber tube is provided with two clamping grooves 103a located on both sides of the opening and extending along the opening direction.
  • a side of the top bracket close to the rubber tube is provided with a first clamping groove 104a matched with the clamping groove 103a of the top rubber tube; one of the bottom bracket close to the rubber tube
  • a second clamping groove 105b is provided on the side to match with the clamping groove 103b of the bottom rubber tube.
  • each of the laminated structures 1031 to 1038 and an inflation / deflation device may be passed through a plurality of air pipes Connected to achieve deflation of the laminated structure.
  • the trachea may be an air passageway that inflates the inflatable laminated structure 1031-1038 and exhausts the inflatable laminated structure 1031-1038 outward.
  • a plurality of outer end portions of the trachea may be provided at the recess 105 c of the bottom bracket 105.
  • the training apparatus can be in a circular shape so that the neck of the user can be extended into it, and its diameter can be set to be slightly larger than that of a person.
  • the size of the head is convenient for the user to wear the training device.
  • the notch 101a and the protrusion 101b of the top member 101 fit well with the chin and neck of the human body, thereby making it comfortable to wear.
  • FIG. 5 schematically illustrates a perspective view of a training apparatus according to other embodiments of the present disclosure.
  • the training device shown in FIG. 5 may further include a driving device 200 for controlling the axial expansion and contraction of the traction member 103, which may be detachably connected to the traction member 103 through the connection member 300, for example.
  • This detachable connection mode allows the traction member 103 and the driving device 200 to be connected as a whole only when in use, and becomes a relatively independent individual when not in use, improving portability.
  • FIG. 6 is a block diagram showing a hardware structure of a driving device of a training apparatus according to some embodiments of the present disclosure, in which arrows indicate a signal flow direction.
  • the driving device of the training apparatus includes: an inflation mechanism 201 configured to inflate the stacked structures; and a plurality of on-off valve pairs 202 configured to control the inflation and deflation of each stacked structure, respectively; And a control mechanism 203 for controlling the inflation mechanism 201 and the on-off valve pair 202.
  • Each on-off valve pair 202 may be connected to a corresponding laminated structure through a corresponding air pipe and includes an inflation valve 202a and a bleed valve 202b for controlling inflation and deflation of the corresponding laminated structure, respectively.
  • the inflation mechanism 201 may include an air pump 204, an air bag 205 connected to an air outlet of the air pump 204 for storing a source gas generated by the air pump 204, and used for sensing gas.
  • the intake valve 207 may be controlled automatically by the control mechanism 203 according to a user instruction or may also be controlled manually.
  • the inflation mechanism 201 may further include a pneumatic triple 208 connected between the intake valve 207 and the on-off valve pair 202 for controlling (lowering) the flow of the source gas into the plurality of stacked structures before the source gas reaches the on-off valve pair.
  • Maximum pressure value In pneumatic technology, the pneumatic triple joint (FRL) is a combination of three source gas processing elements: air filter (F), pressure reducing valve (R) and oil mist (L). It is used for source gas purification filtering and reducing. Pressure to supply the rated source gas pressure.
  • the pressure reducing valve can stabilize the source gas and keep the source gas in a constant state, which can reduce the damage to the switch valve pair 202 and the like due to sudden changes in the source gas pressure.
  • the filter is used for cleaning the source gas, and can filter the moisture in the compressed air to prevent the moisture from entering the stacked structure 102 with the gas.
  • the on-off valve pair 202 may further include a second air pressure sensor 202 c provided at an air outlet end of the inflation valve 202 a for sensing a traction member (eg, a laminated structure) in real time. Air pressure.
  • the control mechanism 203 may decide whether to close the inflation valve 202a or the bleed valve 202b according to the air pressure sensed by the second air pressure sensor 202c, so as to stop the inflation or deflation process of the inflatable laminated structure.
  • the target traction activity such as front and back, left and right, and up and down traction activities of the neck
  • the internal pressure measured at the time of contraction and the degree of contraction is set as the inflation threshold and the deflation threshold.
  • the internal pressure determined in real time at the second air pressure sensor 202 may be compared with the inflation threshold or deflation threshold.
  • the inflation valve 202a or the deflation valve 202b is closed, and the inflation or deflation is stopped.
  • the opening and closing of the inflation valve 202a and the bleed valve 202b can be controlled relatively accurately, so as to accurately control the inflation and deflation processes, so as to avoid that the air pressure in the laminated structure is too large or too small.
  • the driving device 200 may further include a memory 210 for storing a predetermined operation method or step for implementing a predetermined traction activity for the neck.
  • the control mechanism 203 is configured to control the on-off valve pair 202 according to a stored predetermined operation method or step for the neck. Therefore, the user can control the opening and closing of each inflation valve and bleed valve in the on-off valve group according to a preset operation method to control the inflation and deflation of each traction sub-member, that is, the top member is driven to realize the neck Various scheduled traction activities.
  • the predetermined traction motion for the neck includes a forward flexion / back extension motion of the sagittal plane, a left flexion / right flexion motion of the coronal plane, a rotational motion in the horizontal plane, and a vertical traction motion.
  • the driving device 200 may further include a control panel 211 provided at an outer surface thereof for receiving a user instruction.
  • the control mechanism 203 may be configured to control the on-off valve pair 202 according to a user instruction.
  • the control panel 211 may include a power switch button for turning on the power, and may further include a predetermined traction activity selection interface (such as a corresponding physical button, or a touch screen) connected to the control mechanism 203 and the memory 210 for selecting a preset traction activity.
  • control panel 211 may further include individual interfaces (such as physical buttons or touch screens) connected to each on-off valve pair, so that the user can freely control the contraction and extension of each traction sub-member according to personal needs, thereby realizing neck-to-neck Ministry of personalized traction activities.
  • individual interfaces such as physical buttons or touch screens
  • FIG. 7 illustrates a pneumatic circuit and a control principle diagram of a training apparatus according to some embodiments of the present disclosure, wherein a thick arrow indicates a flow direction, and a thin solid line arrow indicates a signal flow direction.
  • the driving device controls the inflation mechanism 201 and the switch valve pair 202 through the control mechanism 203 to inflate and deflate the traction member 103.
  • the specific operation process of the driving device is as follows: when the air pump 204 is controlled to be turned on by the central controller 203, for example, the gas from the air pump 204 first enters the air bag 205; then it reaches the intake valve 207 (which can be regarded as the master switch of the pneumatic circuit system) , To control the inflow of the source gas to the subsequent).
  • the intake valve 207 is controlled to be opened by the control mechanism 203, for example, the gas flows to the pneumatic triple 208.
  • the pneumatic triple piece 208 performs pressure reduction processing on the source gas flowing in, and controls the highest value of the air pressure flowing into the subsequent circuit.
  • the gas After the decompression process, the gas reaches the group of on-off valve pairs, that is, a plurality of on-off valve pairs 202 (including the inflation valve 202a and the bleed valve 202b) corresponding to the respective traction sub-components of the traction member 103.
  • each on-off valve pair is controlled to cooperate with each other to control the inflation and deflation of its corresponding traction sub-component, thereby realizing the corresponding traction activity.
  • the first and second air pressure sensors 206 and 202c may also sense the air pressure in the air bag 205 and the traction member 103, and transmit the sensing results to the control mechanism 203 in real time.
  • the control mechanism 203 can control the opening and closing of the air pump 204 and / or the on-off valve pair 202 accordingly based on the pressure sensed by the first and / or second air pressure sensors 206, 202c.
  • the driving device may further include a muffler 209 provided at an air outlet end of the air release valve 202b to reduce exhaust noise when the air release valve 202b is opened to deflate the traction member 103.
  • FIG. 8 illustrates a physical connection diagram of various components of a training apparatus according to some embodiments of the present disclosure.
  • the air pump 204 includes one or more micro pumps. According to the flow rate of gas generated by the micro-pump 204, it is determined how many micro-pumps are used to supply gas at the same time, so as to ensure that sufficient source gas is generated.
  • One or more (two are shown in the figure) micropumps 204 may be connected to the airbag 205 through a trachea and a tee.
  • the air pump 204 may be an electric pump or a manual pump.
  • the first air pressure sensor 206 may be connected between the micro air pump 204 and the air bag 205 through a three-way connection, so as to sense the internal pressure value of the air bag 205 in real time.
  • a pressure gauge can be introduced at the end of the air bag to intuitively present the pressure value of the source gas inside the air bag 205 to the user.
  • the first air pressure sensor 206 can transmit the sensed data to the control mechanism in real time, so that the control mechanism can control the opening and closing of the air pump 204 based on the pressure value in the air bag 205 sensed by the first air pressure sensor 206.
  • the control mechanism may issue a stop command to control the micro pump to stop working; and when the pressure value is lower than the pressure value set in the controller At the lower limit, the control mechanism can issue an open command to control the micro pump to start working.
  • the introduction of the first air pressure sensor 206 makes it possible to control the pressure of the source gas in the air bag 205 within a relatively reasonable range (between the upper limit and the lower limit) to avoid problems caused by excessively large or small pressure values. For example, excessive pressure in the airbag 205 may cause damage due to unsustainability; excessive pressure may not fully drive the laminated structure to stretch.
  • the on-off valve pair 202 may adopt a solenoid valve group. Because compared with other types of valves, the solenoid valve is more sensitive and has a short response time (for example, it can be as short as a few milliseconds). It is a relatively high-speed on-off valve. Flexible and diverse control of the traction motion of the neck is easy to achieve more complex traction motions, such as rotary motion on the horizontal plane. In addition, the solenoid valve has a simple structure, a small size, and low power consumption, and is therefore very suitable for use in a portable training apparatus according to the present disclosure.
  • the on-off valve pair 202 may also be an electric valve group or a valve group of other types of driving methods, as long as it is suitable for sensitive (high-speed) control and portability requirements.
  • the inflation valve 202a and the bleed valve 202b in the on-off valve pair 202 can be connected to the air passage through a three-way connection.
  • the inlet end of the inflation valve 202a is connected to the inflation mechanism 201 (ie, the pneumatic triple 208 therein) and the outlet end. It is connected to the tee; the inlet end of the bleed valve 202b is connected to the tee, and the outlet end is open to the external environment, which is the bleed port of the corresponding laminated structure 1031-1038.
  • FIGS. 6 and 7 that is, a set of inflation valves and bleed valves, and in fact, as shown in FIG.
  • each traction sub-member or laminated structure 1031 -1038 can correspond to an on-off valve pair, that is, an inflation valve and an air release valve. Therefore, the total number of on-off valves is twice that of the laminated structure 1031-1038.
  • FIG. 8 shows eight stacked structures, so there are a total of 8 pairs of on-off valves and a total of 16 individual on-off valves, of which 8 are inflation valves and 8 are exhaust valves.
  • the control mechanism individually controls each on-off valve pair in the on-off valve group to make them work in cooperation with each other to achieve inflation or deflation (ie, pressurization or decompression) of the corresponding laminated structure to form axial expansion and contraction, thereby driving the top airbag to move. , To achieve multi-degree of freedom traction movement of the neck.
  • a muffler 209 is provided at an air outlet end of the air release valve 202 b to reduce exhaust when the air release valve 202 b is opened to deflate the stacked structure 1031-1038. Gas noise.
  • FIG. 9 illustrates a working flowchart of a training apparatus according to some embodiments of the present disclosure.
  • eight traction sub-members are described as an example.
  • the positions of the following eight muscle tissues around the neck of the human body in the position of the main structure correspond to the following: The left trapezius, the left sternocleidomastoid muscle on the left, the left platysma muscle on the left front, the sternohyoid muscle on the front right, the right platysma on the right front, and the right Right sternocleidomastoid muscle, right trapezius muscle at the right rear.
  • the workflow of a training apparatus includes the following steps. First, pre-inflate the eight traction sub-members to extend the top airbag to support the wearer's head and keep the wearer's neck upright. Then, through the control of inflation and deflation of each traction sub-member, multi-degree-of-freedom traction activities are realized, such as forward and backward flexion of the sagittal plane, left and right flexion of the coronary plane, rotational motion of the horizontal plane, vertical Direction of traction and so on.
  • step S901 after the user wears the training device, as shown in the flowchart of FIG. 9, in step S901, the user can turn on the training device by triggering, for example, a power switch on the control panel.
  • step S902 the control mechanism opens the intake valve of the inflation mechanism.
  • step S902 ′ the control mechanism turns on the air pump; then, the control mechanism controls the on and off of the air pump according to the pressure value in the air bag sensed by the first air pressure sensor in real time.
  • step S903 ′ the control mechanism compares the pressure value sensed in real time with a preset threshold value: if the sensed pressure value is greater than a preset upper threshold value, the air pump is turned off in step S904 ′; and if When the sensed pressure value is less than a preset lower limit threshold, the air pump is maintained on, thereby controlling the pressure in the air bag to a reasonable range.
  • the upper and lower thresholds can be set in advance as needed.
  • step S902 the operation flow enters the pre-inflation stage. Specifically, at step S903, the control mechanism controls the switching valves to inflate and pressurize all the inflation valves to the traction sub-member.
  • the second air pressure sensor senses in real time whether the gas pressure in the traction sub-component reaches a preset pre-inflation pressure threshold: if it is reached, then the inflation valve is closed at step S905, and the pre-inflation phase ends, Otherwise, keep the inflation valve open for inflation until it reaches the preset value.
  • the preset air pressure value used to define whether the pre-inflation process is completed can be set by the following method: first, pre-inflate the traction sub-member until the extension of the traction member makes the top member just contact the wearer's head and The wearer's neck is kept upright, and then the gas pressure value inside the traction member is measured at this time, and this pressure value can be used as the pre-inflation pressure threshold.
  • the control mechanism may receive a user's input instruction, for example, the user may input a specific control instruction through a control panel or a touch screen on the driving device.
  • the instruction may include, for example, selecting a predetermined neck traction activity mode stored in the memory through a selection interface on a control panel or a touch screen, or the user may set a separate interface (e.g., a physical button or a touch button) corresponding to each switch valve pair on the panel, for example. Control button) to specify a specific traction action to form a personalized traction stretch on the neck.
  • the control instruction may further include, for example, an instruction to turn off the training device through a power switch.
  • step S907 it is determined whether the instruction is to end the neck training, that is, to turn off the training device (or turn off the power). If it is, the workflow proceeds to end step S911; if not, it proceeds to the next determination step S907 ′.
  • step S907 ′ if the received instruction is a predetermined traction mode selected by the user, the work flow proceeds to step S908, and the control mechanism controls the opening and closing of the switching valve pair based on the specific process of the predetermined traction activity stored in the memory; if the instruction is for the user The input personalized traction activity, the work flow proceeds to step S909, and the control mechanism controls the opening and closing of the switching valve pair based on the specific action of each traction sub-component input by the user.
  • the control mechanism may control the switching valve pair to fully deflate each traction sub-member, and then turn off the power switch, close the main intake valve and the switching valve pair.
  • step S910 the control mechanism may control the traction sub-member to restore or maintain the pre-inflated state, and wait for the next operation instruction, that is, go to step S906. Subsequently, the control mechanism determines whether to re-execute the traction action (S908 or S909) or to completely end the neck training (S911) according to the instruction input by the user again.
  • the following uses the first traction sub-member corresponding to the erector spinae muscle and the corresponding solenoid valve pair as examples to describe how the switch valve pair can inflate and deflate the traction sub-member.
  • the on-off valve pair corresponding to the first traction sub-member includes an inflation valve and a bleed valve. When used in combination, the first traction sub-member can be in one of the following three states: inflation, holding, and deflation.
  • the source gas enters the first traction sub-member through the inflation valve, and the first traction sub-member is in an inflation and pressurized state, so that it stretches to generate an axial pushing force, thereby pulling upward
  • the inflation valve is closed and the air release valve is closed
  • the external source gas cannot enter and the internal gas cannot flow out, and the air pressure inside the first traction sub-member remains in the original state, which has no effect on the neck at this time
  • the inflation valve is closed and the bleed valve is opened, the internal gas enters the external environment through the bleed valve, and the first traction sub-member is in a deflated state, causing its extension to generate an axial retraction force, thereby pulling the neck downward.
  • the inflation valve and the exhaust valve cannot be opened at the same time, because the external source gas entering from the inflation valve will directly flow from the exhaust valve to the external environment, which cannot have any impact on the internal pressure of the first traction sub-component, However, the source gas generated by the inflation mechanism (ie, the air pump) is wasted.
  • the plurality of traction sub-components are the erector spinae muscles that are directly behind, the left trapezius muscles that are located at the left rear, the left sternocleidomastoid muscles that are located at the left, and the left wide neck that are located at the front left. Muscles, sternohyoid muscles located directly in front, right platysma muscles located in front right, right sternocleidomastoid muscles located in right side, right trapezius muscles located in right rear, first to eighth inflatable laminated structures, Both the top and bottom members are airbags.
  • a training apparatus may implement a 4 degree of freedom traction activity as follows:
  • the first laminated structure is inflated and pressurized to make it stretch in the axial direction, and the fifth laminated structure is deflated and decompressed to be in the axial direction Perform a retraction motion to push the top bracket and the top airbag to perform a sagittal forward flexion motion to drive the wearer's neck to complete the sagittal forward flexion motion; instead, inflate and pressurize the fifth laminated structure to make it
  • the stretching exercise is performed in the axial direction, and the first layered structure is deflated and decompressed at the same time, so that the retracting movement is performed in the axial direction, so as to drive the wearer's neck to complete the sagittal plane backward movement.
  • Right flexion / left flexion motion of the coronal plane of the second degree of freedom Inflating and pressurizing the third laminated structure to make it stretch in the axial direction, and at the same time deflating and decompressing the seventh laminated structure to make it perform in the axial direction
  • the retraction movement drives the wearer's neck to complete the right flexion of the coronal plane; on the contrary, the seventh laminated structure is inflated and pressurized to make it stretch in the axial direction, while the third laminated structure is deflated and decompressed. It is retracted in the axial direction, so as to drive the wearer's neck to complete the left flexion of the coronal plane.
  • the third-degree-of-freedom horizontal plane selection motion the first to eighth stacked structures are sequentially inflated and pressurized in a clockwise manner, so that they are sequentially stretched in the axial direction, and at the same time, the positions opposite to the position of the stacked structure being inflated and pressurized
  • the laminated structure deflates and decompresses so that they sequentially retract in the axial direction, which can drive the wearer's neck to complete the clockwise rotation of the horizontal plane; on the contrary, the first to eighth laminated structures are sequentially counterclockwise.
  • Inflating and pressurizing they are sequentially stretched in the axial direction, and at the same time, the laminated structure opposite to the position of the laminated structure that is being vented and decompressed is vented and decompressed, so that they are sequentially retracted in the axial direction, thereby It can drive the wearer's neck to complete the counter-clockwise rotation movement in the horizontal plane.
  • Fourth-degree-of-freedom vertical stretching Simultaneously inflate and pressurize 8 stacked structures so that they simultaneously perform stretching in the vertical axial direction, which can drive the wearer's neck to complete vertical stretching. motion.
  • control mechanism may use a universal control mechanism (chip), a single-chip microcomputer, etc. that can send and receive signals, perform calculation and processing of information and data, and automatically run, and may include a mechanism for directly driving the corresponding components (such as Inflation mechanism, on-off valve group, etc.) drive circuits or other types of drive equipment (this depends on the drive method, such as electric, hydraulic, pneumatic, electromagnetic, etc.).
  • these driving devices or driving circuits are omitted in this article, and are directly expressed as the control mechanism to control the various components in the driving device, such as the inflation mechanism and the on-off valve group.
  • the driving device may also include a power source (fixed power source (mains power) or mobile power source (battery)) for powering the various components and the driving circuit, and if necessary, the power source may pass through a step-down voltage stabilization circuit (transformer) to the driving circuit and the The control mechanism supplies power.
  • a power source fixed power source (mains power) or mobile power source (battery)
  • the power source may pass through a step-down voltage stabilization circuit (transformer) to the driving circuit and the The control mechanism supplies power.
  • connection refers to the connection of two components together through detachable and / or removable connection methods such as bonding, snap-fitting, riveting, threaded connection, win-win fit, etc.
  • the connection between component A and component B can be removed without damage and / or damage to the component A and component B by means such as heating, pulling, pressing, impacting, vibration, etc., in order to facilitate replacement and component recovery use.

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Abstract

一种训练仪，包括：顶部构件（101）、底部构件（102）以及设置在顶部构件（101）与底部构件（102）之间的牵引构件（103），其中牵引构件（103）配置成沿顶部构件（101）或底部构件（102）的轴向可伸缩以实现顶部构件（101）与底部构件（102）之间的相对运动。

Description

训练仪
相关申请
本申请要求2018年6月20日提交的申请号为201820950573.4的中国专利申请的优先权，该专利申请的所有内容通过引用合并于此。
技术领域
本公开涉及可穿戴领域，并且更具体地涉及训练仪。
背景技术
长期保持固定姿势的人，会使得颈部和肩部肌肉长期处于僵化状态，容易造成劳损，进而引发颈椎盘突出、颈椎病和肩周炎等颈部疾病。
由于颈部疾病容易反复发作、康复时间较长，而且专业治疗和康复训练成本较高且由于患者行动不便。目前，颈部以多自由度牵引运动的专业医疗器械为主，这些器械的特点至少包含结构复杂、体积庞大、造价昂贵而且不易操作等。
发明内容
本公开的目的是提供一种用于颈椎康复治疗的训练仪。
根据本公开的一个方面，提出了一种训练仪，包括：顶部构件、底部构件以及设置在顶部构件与底部构件之间的牵引构件，其中所述牵引构件配置成沿所述顶部构件或底部构件的轴向可伸缩以实现所述顶部构件与底部构件之间的相对运动。
在根据本公开的训练仪的一些实施例中，牵引构件包括多个牵引子构件，所述多个牵引子构件的每一个配置成可独立地沿所述轴向可伸缩。
在根据本公开的训练仪的一些实施例中，顶部支架和底部支架为环状结构，所述多个牵引子构件设置在所述底部支架上与所述顶部支架连接，所述多个牵引子构件沿着所述环状结构依次间隔设置。
在根据本公开的训练仪的一些实施例中，所述多个牵引子构件中的每一个包括可充气的层叠结构，所述层叠结构中的各叠层沿着所述 底部构件朝向所述顶部构件的方向堆叠设置，所述层叠结构配置成在未充气状态下呈扁平状，在充气状态下呈伸展状，并且通过充气和放气来实现所述顶部构件与底部构件之间的相对运动。
在根据本公开的训练仪的一些实施例中，其中所述多个牵引子构件的数量为7-9个。
在根据本公开的训练仪的一些实施例中，层叠结构包括多个相互堆叠且连通的橡胶管。
在根据本公开的训练仪的一些实施例中，在层叠结构中，顶部橡胶管和底部橡胶管分别具有一个开口，位于顶部橡胶管与底部橡胶管之间的橡胶管具有上下两个开口，相邻橡胶管通过相邻的开口连通。
在根据本公开的训练仪的一些实施例中，顶部橡胶管和底部橡胶管中的每一个的靠近相邻橡胶管的一侧设置有两个位于开口两侧且沿着开口方向延伸的卡槽，所述顶部支架的靠近所述橡胶管的一侧设置有与所述顶部橡胶管的卡槽相匹配连接的第一卡槽；所述底部支架的靠近所述橡胶管的一侧设置有与所述底部橡胶管的卡槽相匹配连接的第二卡槽。
在根据本公开的训练仪的一些实施例中，顶部支架远离橡胶管的一侧设置有第一凹槽，所述第一凹槽配置成容纳所述顶部构件；所述底部支架远离橡胶管的一侧设置有第二凹槽，所述第二凹槽配置成容纳所述底部构件。
在根据本公开的训练仪的一些实施例中，顶部构件和底部构件为圆环形气囊。
在根据本公开的训练仪的一些实施例中，顶部构件的圆环形气囊包括：缺口以及两个凸起，所述两个凸起为与所述圆环形气囊一体式设计的可充气结构。
在根据本公开的训练仪的一些实施例中，该训练仪进一步包括配置成控制所述多个牵引子构件伸缩的驱动装置，其中所述驱动装置包括：
配置成对层叠结构充气的充气机构；
配置成分别控制各个层叠结构充气和放气的多个开关阀对，每个开关阀对包括充气阀和放气阀；以及
配置成控制所述充气机构和所述多个开关阀对的控制机构。
在根据本公开的训练仪的一些实施例中，充气阀和放气阀为电磁阀或电动阀，并且充气阀和放气阀是可独立控制的。
在根据本公开的训练仪的一些实施例中，充气机构包括：一个或多个气泵，其配置成产生源气体；气袋，其配置成与所述气泵连接以存储所述源气体；与气袋的出气端连接的进气阀，并且其中所述控制机构配置成控制进气阀的开闭。
在根据本公开的训练仪的一些实施例中，充气机构进一步包括：连接在气泵与气袋之间的第一气压传感器，其配置成感测气袋的内部压力，其中所述控制机构配置成：
将第一气压传感器所感测的压力与预设的上限阈值和下限阈值进行比较，并且
在所感测的压力大于上限阈值时关闭气泵，而在所感测的压力小于下限阈值时开启气泵。
在根据本公开的训练仪的一些实施例中，所述多个开关阀对中的每一个进一步包括：设置在充气阀的出气端的第二气压传感器，其配置成感测所述层叠结构中的气压，其中控制机构配置成根据第二气压传感器所感测的气压而开启或关闭充气阀和/或放气阀。
在根据本公开的训练仪的一些实施例中，充气机构进一步包括：连接在进气阀与开关阀对之间的气动三联件，其配置成控制流入层叠结构的最高压力值。
在根据本公开的训练仪的一些实施例中，驱动装置进一步包括存储器，其配置成存储预定牵引动作的操作步骤，并且所述控制机构配置成根据存储器中所存储的预定牵引动作的操作步骤控制所述多个开关阀对。
在根据本公开的训练仪的一些实施例中，所述多个开关阀对中的每一个所述放气阀包括消音器，所述消音器设置在所述放气阀的出气端。
在根据本公开的训练仪的一些实施例中，所述预定牵引动作包括矢状面的前屈和后伸运动、冠状面的左屈和右屈运动、水平面的旋转运动、垂直方向的拉伸牵引运动。
附图说明
根据以下详细描述和附图，将容易理解本公开的各个不同的方面、特征和优点，在附图中：
图1a示意性示出根据本公开的一些实施例的训练仪的立体正视图；
图1b示意性示出了根据本公开的一些实施例的训练仪的剖面图；
图2a、2b、2c、2d、2e分别示意性示出了根据本公开的一些实施例的训练仪的顶部构件、顶部支架、底部支架、底部构件以及牵引构件的立体图；
图3a、3b分别示意性示出了根据本公开的一些实施例的训练仪的牵引子构件在未充气状态和充气状态下的剖面图；
图4a、4b分别示意性示出根据本公开的一些实施例的训练仪的穿戴效果的正视图和侧视图；
图5示意性示出根据本公开的另一些实施例的训练仪的立体图；
图6示意性示出根据本公开的一些实施例的训练仪的驱动装置的硬件结构框图；
图7示意性示出根据本公开的一些实施例的训练仪的气动回路和控制原理图；
图8示意性示出根据本公开的一些实施例的训练仪的各部件的物理连接图；以及
图9示意性示出根据本公开的一些实施例的训练仪的操作流程图。
应当指出，上述附图仅仅是示意性的和说明性的，且并不一定按照比例绘制。
具体实施方式
在下文中将参照附图更完整地描述本公开，在附图中示出了本公开的一些实施例。
图1a-1b分别示意性示出了根据本公开的一些实施例的训练仪的正视图和剖面图。如图1a-1b所示，根据本公开一些实施例的训练仪可以包括顶部构件101、底部构件102以及设置在顶部构件101与底部构件102之间的牵引构件103，其中牵引构件103配置成沿所述顶部构件101或底部构件102的轴向可伸缩以实现所述顶部构件101与底部构件102之间的相对运动。在根据本公开一些实施例的训练仪中，通过牵引 构件103轴向伸缩，从而达到辅助颈部、关节部等需要活动部位进行活动的目的。示例性地，根据本公开一些实施例的训练仪可以辅助正常人进行颈部活动，或辅助颈椎病的病人活动颈部以缓解或治疗病痛。而且上述训练仪结构简单、便携轻巧、且成本较低，适合家庭锻炼身体或康复治疗。
在根据本公开的训练仪的一些实施例中，所述顶部构件和底部构件可以为环状结构，所述牵引构件也可以是与所述顶部构件和底部构件相匹配的环状结构，被训练对象部位伸入所述环状结构内可在牵引构件轴向伸缩的运动状态下得到辅助运动。
根据本公开一些实施例的训练仪可以是用于被训练对象某活动位置处的训练仪，如用于人类、动物的颈部、胳膊和腿部等关节处的训练仪。在本公开的下文中，主要以颈部训练仪为例进行说明。
在根据本公开的训练仪的一些实施例中，所述牵引构件包括多个牵引子构件，所述多个牵引子构件的每一个配置成独立地沿所述轴向可伸缩。因牵引子构件相互之间可独立控制，这样就可以适应被训练对象的自主活动，例如当对象朝向某方向运动时，多个牵引子构件可以分别被控制以适应被训练对象的移动方向，提高训练的正面效果，降低训练的负面作用。在一些实施方式中，根据本公开的训练仪还包括：设置在顶部构件和牵引构件之间的顶部支架，以及设置在底部构件和牵引构件之间的底部支架。
如图1a和1b所示，根据一些实施例，训练仪可以进一步包括：设置在顶部构件101和牵引构件102之间以用于容纳并固定顶部构件101的顶部支架104，以及设置在底部构件102与牵引构件103之间以用于固定底部构件102的底部支架105。牵引构件103可以可拆卸地连接在顶部支架104与底部支架105之间。
图2a-2e分别示意性示出了根据本公开的一些实施例的训练仪的各个构成部件的立体图。
图2a和2d分别示出了根据本公开的一些实施例的训练仪的顶部构件101和底部构件102。在根据本公开的一些实施例中，顶部构件101和底部构件102可以是柔性构件，比如图2a和2d所示的圆环形气囊，即顶部气囊和底部气囊。由于顶部构件101和底部构件102需要与被训练对象(如，人体)直接接触，因此采用诸如气囊之类的构件 可以提高穿戴舒适度。顶部气囊和底部气囊可以采用可充气气囊的形式。如图2a和2d所示，顶部气囊和底部气囊在充气后可以呈类似于轮胎的圆环形状。
由于气囊在充气之前体积较小，因此可以在训练仪被穿戴之前使顶部气囊和底部气囊其保持未充气状态，以便于穿戴、存放和携带；而充气之后气囊具备一定的弹性和柔性，从而在训练仪操作时实现了穿戴舒适性。另外，在充气状态下，因为气较好的柔性和韧性，所以顶部气囊与穿戴者的头部进能够行充分接触，支撑起穿戴者的头部重量，同时也是牵引颈部运动时直接发力点。此外，顶部气囊和底部气囊的充气和放气可以通过外接电动或手动气泵的方式进行，或者也可以由专用控制装置进行控制。
在本公开的一些实施例中，如图2a所示，该顶部构件101可以包括配置成在由穿戴者穿戴时与该穿戴者下颏(俗称下巴)位置对应的缺口101a以适配下颏，从而提高穿戴舒适性。此外，如图2a所示，顶部构件101还可以包括配置成支撑穿戴者颈部和/或头部至少一个凸起101b(图2a中示出例如与人体肩部位置对应的两个凸起101b)。所示至少一个凸起101b主要用于在穿戴时与人体的颈部和/或头部接触以支撑颈部或头部，因而其结构应当与人体颈部和/或头部相应部位的轮廓相适应，以进一步提高穿戴舒适性。可选地，当顶部构件101为圆环形气囊时，所述至少一个凸起101b为与所述圆环形气囊一体式设计的可充气结构。
图2b示出了根据本公开的一些实施例的训练仪的顶部支架104。如图2b和1b所示，该顶部支架104可以包括用于容纳顶部构件101的第一凹槽104c。在一些实施例中，顶部支架104可以包括缺口104b，该缺口104b与其所承载的如图2a所示的顶部气囊101的缺口101a对应匹配。可选地，如图1b所示，顶部支架104的下部可以设有用于与牵引构件103连接的第一卡槽104a(图2b未示出)。
图2c示出了根据本公开的一些实施例的训练仪的底部支架105。如图2c和1b所示，该底部支架105可以为圆环形，且其上部设有用于与牵引构件103连接的第二卡槽105b。如图2c所示，底部支架105还可以设有凹口105c，用于安放与外接设备连接的连接构件，例如当顶部构件101或底部构件102为气囊时，用于连接对气囊进行充气的 充气泵的连接线。此外，如图1b所示，底部支架105的下部可以设有与顶部支架104的第一凹槽104c类似的、用于容纳底部构件102的第二凹槽105d(图2c未示出)。
在根据本公开的训练仪的一些实施例中，如图1a和1b所示，顶部支架104的第一凹槽104c和底部支架105的第二凹槽105d可以为环形凹槽，且二者的开口方向相相反，即第一凹槽104c朝上，第二凹槽105d朝下。顶部构件101和底部构件102可以通过可拆卸方式、例如卡接方式分别与顶部支架104和底部支架105连接。例如，当顶部构件101和底部构件102为圆环形可充气气囊时，如图1b所示，在充气状态下，顶部构件101和底部构件102分别卡接在顶部支架104第一凹槽104c和底部支架105的第二凹槽105d中。
在一些实施例中，如图2b所示，顶部支架104的上部的第一凹槽104c的圆形剖面的内径与顶部构件101的圆形剖面的外径相同，从而实现了二者紧密贴合匹配。而且顶部支架104的上部的第一凹槽104c的高度值超过其圆形剖面的内径值且在第一凹槽104c的尾部两侧向内弯曲一定角度，这样使得顶部构件101在充气状态下，能够更牢固地的卡接在顶部支架104的第一凹槽104c内，从而结合成一个整体而不易分离，从而使得顶部支架104起到固定顶部构件101的作用。
在一些实施例中，如图2b所示，底部支架105的下部第二凹槽105d的圆形剖面的内径与底部构件102的圆形剖面的外径相同，从而实现了二者的紧密贴合匹配。而且底部支架105的下部第二凹槽105d的高度值超过其圆形剖面的内径值且在第二凹槽105d的尾部两侧向内弯曲一定角度，这样使得底部构件102在充气状态下，能够更牢固地的卡接在底部支架105的第二凹槽105d内，以免与之分离，从而使得底部支架105起到固定底部构件102的作用。
在一些实施例中，如图2b所示，牵引构件103可以是可伸缩结构，例如可充气的层叠结构，其具有上部沟槽103a和下部沟槽103b，上部沟槽103a和下部沟槽103b分别配置成与顶部支架104的下部的第一卡槽104a和底部支架105的上部的第二卡槽105b匹配。因此，在连接时牵引构件103的上部沟槽103a直接卡合在顶部支架104的第一卡槽104a内；牵引构件103的下部沟槽103b直接卡合在底部支架105的第二卡槽105b内。
图2e示出了根据本公开的训练仪的牵引构件103的多个牵引子构件1031至1038。在一些实施例中，如图2e所示，训练仪的牵引构件103可以包括多个牵引子构件1031至1038，其中每一个牵引子构件1031至1038可以配置成可独立地沿顶部构件101或底部构件102的轴向可伸缩。如图1a和2e所示，所述顶部支架104和底部支架105为环状结构，所述多个牵引子构件1031至1038设置在所述底部支架105上与所述顶部支架104连接，所述多个牵引子构件1031至1038沿着所述环状结构依次间隔设置。
由人体生理学原理可知，人体颈部运动主要由分布在颈部周围的肌肉组织的收缩和拉伸完成人体颈部的多自由度活动。依据人体颈部的活动自由度和驱动颈部运动的肌肉组织的构成，可以忽略复杂细微的肌肉组织，而将起到运动牵引作用的肌肉组织简化为若干主要的肌肉组织，例如可以将其简化为颈部周围的如下8种肌肉组织：正后方的竖脊肌、位于左后方的左斜方肌、位于左侧的左胸锁乳突肌、位于左前方的左颈阔肌、位于正前方的胸骨舌骨肌、位于右前方的右颈阔肌、位于右侧的右胸锁乳突肌、位于右后方的右斜方肌。于是，依据仿生学原理，图3所示的可单独轴向伸缩的多个牵引子构件1031-1038可以配置成在由穿戴者穿戴时与颈部周围的不同肌肉组织的位置对应，通过模拟人体颈部周围的起运动牵引作用的各个主要肌肉组织进行收缩和拉伸来带动顶部构件101完成对人体颈部的多方位、多角度、多维度牵引活动。
在数学和物理学概念中，“轴向”通常是针对圆柱体类物体而言，就是圆柱体旋转中心轴的方向，即与中心轴共同的方向。因此，“轴向运动”就是沿着轴向的运动、即旋转中心轴方向的运动。在本公开中，如图2e所示，为了配合人体颈部和头部的轮廓，顶部构件、底部构件、牵引构件等通常为圆环状，因而属于旋转中心对称的圆柱类物体。因此，本文中所述的牵引构件或牵引子构件的“轴向伸缩或轴向运动”是指沿着顶部构件、底部构件或牵引构件的旋转中心轴的运动，即大致竖直方向的运动，从而能够带动顶部构件牵引颈部。一般地，所述多个牵引子构件1031-1038中每一个的轴向伸缩运动是可单独地或独立地进行的，以带动顶部构件运动，从而实现对颈部的灵活牵引。当然，所述多个牵引子构件1031-1038中的部分或全部也可以以协同的 方式轴向伸缩，以实现多样化的颈部牵引。
例如，如图2e所示的牵引子构件1031-1038可以配置成：分别与如上所述的颈部周围的正后方的竖脊肌、位于左后方的左斜方肌、位于左侧的左胸锁乳突肌、位于左前方的左颈阔肌、位于正前方的胸骨舌骨肌、位于右前方的右颈阔肌、位于右侧的右胸锁乳突肌、位于右后方的右斜方肌的位置对应，从而可以模拟相应肌肉组织的收缩和/或拉伸运动，而各个牵引子构件1031-1038的伸缩动作相互配合可以实现例如至少4自由度牵引活动，例如包括但不限于，矢状面的前屈/后伸运动、冠状面的左屈/右屈运动、水平面的旋转运动、垂直方向的拉伸牵引运动。
下面参照图2e描述利用多个可伸缩的牵引子构件1031-1038实现多自由度(这里以4自由度为例)牵引活动的原理。
一、矢状面的前屈/后伸运动：使与竖脊肌对应的第一牵引子构件1031在竖直轴向进行伸展运动，同时与胸骨舌骨肌对应的第五牵引子构件1035在竖直的轴向进行回缩运动，从而推动顶部构件101进行矢状面的前屈运动，带动穿戴者的颈部完成矢状面的前屈运动；相反地，使与胸骨舌骨肌对应的第五牵引子构件1035在竖直轴向进行伸展运动，同时与竖脊肌对应的第一牵引子构件1031在竖直轴向进行回缩运动，从而推动顶部构件101进行矢状面的后伸运动，带动穿戴者的颈部完成矢状面的后伸运动。
二、冠状面的左屈/右屈运动：使与左胸锁乳突肌对应的第三牵引子构件1033在竖直轴向进行伸展运动，同时与右胸锁乳突肌对应的七牵引子构件1037在竖直轴向进行回缩运动，从而带动穿戴者的颈部完成冠状面的右屈运动；相反地，使第七牵引子构件1037在竖直轴向进行伸展运动，同时第三牵引子构件1031在竖直轴向进行回缩运动，从而带动穿戴者的颈部完成冠状面的左屈运动。
同理，使与左颈阔肌对应的第四牵引子构件1034在竖直轴向仅在伸展运动，同时与右斜方肌对应的第八牵引子构件1038在竖直轴向进行回缩运动，可实现人体颈部向着右后方弯曲运动；相反，使第八牵引子构件1038在竖直轴向进行伸展运动，同时第四牵引子构件1034在竖直轴向进行回缩运动，可实现人体颈部向着左前方弯曲运动。再者，使与右颈阔肌对应的第六牵引子构件1036在竖直轴向仅在伸展运 动，同时与左斜方肌对应的第二牵引子1032构件在竖直轴向进行回缩运动，可实现人体颈部向着左后方弯曲运动；相反，使第二牵引子构件1032在竖直轴向进行伸展运动，同时第六牵引子构件1036在竖直轴向进行回缩运动，可实现人体颈部向着右前方弯曲运动。
三、水平面的旋转运动：使分别与竖脊肌、左斜方肌、左胸锁乳突肌、左颈阔肌、胸骨舌骨肌、右颈阔肌、右胸锁乳突肌、右斜方肌对应的第一、二、三、四、五、六、七、八牵引子构件1031-1038按照顺时针顺序依次在竖直轴向进行伸展运动，同时使与正在进行伸展运动的牵引子构件相对的牵引子构件在竖直轴向进行回缩运动，即，在第一牵引子构件1031进行伸展运动的同时，使与其相对的第五牵引子构件1035在竖直轴向进行回缩运动，在第二牵引子构件1032进行伸展运动的同时，使与其相对的第六牵引子构件1036在竖直轴向进行回缩运动，在第三牵引子构件1033进行伸展运动的同时，使与其相对的第七牵引子构件1037在竖直轴向进行回缩运动，在第四牵引子构件1034进行伸展运动的同时，使与其相对的第八牵引子构件1038在竖直轴向进行回缩运动，在第五牵引子构件1035进行伸展运动的同时，使与其相对的第一牵引子构件1031在竖直轴向进行回缩运动，在第六牵引子构件1036进行伸展运动的同时，使与其相对的第二牵引子构件1032在竖直轴向进行回缩运动，在第七牵引子构件进行1037伸展运动的同时，使与其相对的第三牵引子构件1033在竖直轴向进行回缩运动，在第八牵引子构件1038进行伸展运动的同时，使与其相对的第四牵引子构件1034在竖直轴向进行回缩运动，从而可以带动穿戴者的颈部完成水平面的顺时针旋转运动。相反地，如果使者八个牵引子构件1031-1038按逆时针顺序依次在竖直轴向进行伸展运动，与此同时，使正在伸展的牵引子构件相对的牵引子构件进行回缩运动，可带动穿戴者的颈部完成水平面的逆时针旋转运动。
四、垂直方向(即轴向)的拉伸牵引运动：同时使8个牵引子构件1031-1038同时在竖直轴向进行伸展运动，可带动穿戴者的颈部完成垂直方向的拉伸牵引运动。
根据上文所述，根据本公开的训练仪利用分别与颈部周围起牵引作用的多个主要肌肉组织的位置对应的多个可伸缩的牵引子构件1031-1038模拟相应肌肉组织的伸缩，从而实现对颈部的多自由度(即 多角度、多方向、多维度)牵引和拉伸运动，以实现颈部和颈椎康复训练的目的。上述4自由度牵引运动仅仅是示例或作为预设的牵引运动模式以实现对颈部基本的牵引拉伸，用户可以在此基础上根据自身需要和实际情况设计出许多个性化牵引运动模式。
可选地，各牵引子构件可以被协同地或者独立地控制。在一些实施例中，对每个牵引子构件的控制既可以同时进行，也可以相互间存在时间差。这样使得各牵引子构件可以相互配合完成对顶部支架和顶部构件的驱动，从而完成对用户(即穿戴者)颈部的康复训练任务。
根据本公开的训练仪依据仿生学设计通过可伸缩牵引构件模拟颈部肌肉组织来实现对穿戴者颈部牵引，以减少头部对颈椎的压迫，缓解颈部肌肉痉挛，增大椎体之间的距离，解除颈部神经根、肌肉、颈椎所受到的压迫或者刺激，以达到锻炼颈部肌肉、治疗颈椎病的目的。此外，根据本公开的颈椎康复训练仪采用顶部和底部构件直接接触颈部和/或头部及其周围皮肤，实现了舒适的穿戴和牵拉。因此，本公开的训练仪具有结构简单、便携柔性、穿戴舒适、成本低廉等优点，可广泛适用于家庭康复医疗服务领域。
图3a-3b示出根据本公开的一些实施例的训练仪的牵引子构件在未充气状态和充气状态下的剖面图。多个牵引子构件可以是图中所示那样的可充气结构，即通过充气伸展且通过放气收缩。为描述清楚起见，图3a和3b中仅示出了一个牵引子构件1031。
如图3a和3b所示，可伸缩的牵引子构件1031可以例如是可充气的层叠结构1031，该层叠结构1031中的各叠层沿着所述底部构件朝向所述顶部构件的方向堆叠设置，层叠结构1031配置成在未充气状态下呈扁平状，在充气状态下呈伸展状，并且通过充气和放气来实现所述顶部构件与底部构件之间的相对运动。该层叠结构1031可以具有内腔。在内腔未充气状态下(如图3a所示)，层叠结构1031呈扁平状。在内腔充气状态下(如图3b所示)，内腔充气压力增加，层叠结构鼓起，垂直方向伸长、即轴向伸展。这将产生轴向驱动推力，驱动顶部支架和顶部气囊，从而推动穿戴者颈部进行轴向运动，实现颈部或颈椎康复训练。于是，当将可充气结构、尤其是可充气层叠结构1031用作可伸缩牵引子构件时，可以简单地通过充气和放气实现对颈部的轴向牵引。在一些实施例中，还可以通过控制对可充气层叠结构1031的充气 量来控制其轴向伸展的长度。可选地，所述多个牵引子构件的数量为7-9个，例如如图2e所示，可以为8个。在根据本公开的一些实施例中，层叠结构1031内腔上端和下端分别延伸到上部卡槽103a和下部卡槽103b的位置。这样，如图1b所示，在充气状态下，层叠结构1031内部气压增加，内腔上端部和下端部膨胀，分别挤压两侧的上部卡槽103a和下部卡槽103b，使其分别紧紧的贴合且牢固卡接在顶部支架104的第一卡槽104a的壁上和底部支架105的第二卡槽105b的壁上，实现紧密贴合，防止松动。更一般地，除了充放气伸缩结构之外，牵引子构件1031也可以采用可通过机械原理控制的可伸缩结构，比如弹簧或类似于消防用升降梯的结构等。
在根据本公开的一些实施例中，层叠结构1031-1038可以由橡胶管制成，因为橡胶管的低延展性可以防止膨胀弹性变形，以防使其变得不可控，且其强韧性可以增加其承压能力。可选地，层叠结构1031-1038可以包括多个相互堆叠且连通的橡胶管。
在根据本公开的一些实施例中，如图3a和3b所示，在层叠结构1031-1038中，顶部橡胶管和底部橡胶管分别具有一个开口，位于顶部橡胶管与底部橡胶管之间的橡胶管具有上下两个开口，相邻橡胶管通过相邻开口连通。
在根据本公开的一些实施例中，所述顶部橡胶管和底部橡胶管中的每一个的靠近相邻橡胶管的一侧设置有两个位于开口两侧且沿着开口方向延伸的卡槽103a、103b，所述顶部支架的靠近所述橡胶管的一侧设置有与所述顶部橡胶管的卡槽103a相匹配连接的第一卡槽104a；所述底部支架的靠近所述橡胶管的一侧设置有与所述底部橡胶管的卡槽103b相匹配连接的第二卡槽105b。
在根据本公开的训练仪的一些实施例中，当牵引子构件1031-1038为可充气层叠结构时，于是可以将各层叠结构1031至1038与充放气装置(例如，气泵)通过多个气管相连，以实现对层叠结构的充放气。气管可以是向可充气层叠结构1031-1038充气以及可充气层叠结构1031-1038向外排气的气路通道。可选地，如图2c所示，多个气管外端部分可以设置在底部支架105的凹口105c处。
图4a-4b示意性示出了根据本公开一些实施例的训练仪的三维穿戴效果的正视图和侧视图。从图中可知，根据本公开一些实施例的训 练仪，尤其是顶部支架和底部支架，可以呈圆环形以使得用户的颈部可伸入其中，且其直径可以被设置为略大于人的头部的尺寸，以方便用户穿戴该训练仪。如图4a-4b所示，在充气状态下，顶部构件101的缺口101a和凸起101b与人体下颏和颈部适配良好，从而使得穿戴舒适。
图5示意性示出根据本公开另一些实施例的训练仪的立体图。与图1a相比，图5所示的训练仪可以进一步包括控制牵引构件103的轴向伸缩的驱动装置200，其例如可以通过连接构件300与牵引构件103可拆卸地连接。这种可拆卸的连接方式使得牵引构件103和驱动装置200可以只在使用时连接成一个整体，而不使用时成为相对独立的个体，提高了便携性。
图6示出根据本公开的一些实施例的训练仪的驱动装置的硬件结构框图，其中的箭头表示信号流向。如图6所示，根据本公开一些实施例的训练仪的驱动装置包括：配置成对层叠结构充气的充气机构201；配置成分别控制各个层叠结构充气和放气的多个开关阀对202；以及用于控制充气机构201和开关阀对202的控制机构203。每个开关阀对202可以通过相应气管连接到对应的层叠结构并且包括分别用于控制对应的层叠结构充气和放气的充气阀202a和放气阀202b。
在根据本公开的一些实施例中，如图6所示，充气机构201可以包括气泵204、与气泵204出气端连接以用于储存其所产生的源气体的气袋205、用于感测气袋205内的气压的第一气压传感器206以及连接在气袋205的出气端与开关阀对202的进气端之间的进气阀207。其中，进气阀207可以由控制机构203根据用户指令自动控制或者也可以手动控制。此外，充气机构201还可以包括连接在进气阀207与开关阀对202之间的气动三联件208，其用于在源气体到达开关阀对之前控制(降低)流入所述多个层叠结构的最高压力值。在气动技术中，气动三联件(F.R.L)是空气过滤器(F)、减压阀(R)和油雾器(L)三种源气体处理元件的组合体，用于源气体净化过滤和减压以供给额定的源气体压力。减压阀可对源气体进行稳压，使源气体处于恒定状态，可减小因源气体气压突变时对开关阀对202等的损伤。过滤器用于对源气体的清洁，可过滤压缩空气中的水分，避免水分随气体进入层叠结构102。
在根据本公开的一些实施例中，如图6所示，开关阀对202中还可以包括设置在充气阀202a的出气端的第二气压传感器202c，用于实时感测牵引构件(例如层叠结构)中的气压。控制机构203可以根据第二气压传感器202c所感测的气压决定是否关闭充气阀202a或放气阀202b，以停止可充气层叠结构的充气或放气过程。例如，首先可以根据目标牵引活动(例如颈部的前后、左右、上下牵引活动)确定层叠结构伸展或收缩的极限程度(例如轴向伸长或缩短的距离)，然后将在层叠结构达到极限伸展和收缩程度时测得的内部气压设定为充气阈值和放气阈值。在确定了阈值之后，在充气或放气过程中，可以将第二气压传感器202处实时确定的内部气压与充气阈值或放气阈值进行比较。当所感测的阈值达到或超过充气或放气阈值时关闭充气阀202a或放气阀202b，停止充气或放气。这样，可以相对精确地控制充气阀202a和放气阀202b的开闭，从而精确控制充气和放气过程，以避免层叠结构内的气压过大或过小。
在根据本公开的一些实施例中，如图6所示，驱动装置200可以进一步包括用于存储用于实现针对颈部的预定牵引活动的预定操作方法或步骤的存储器210。控制机构203被配置成根据所存储的针对颈部的预定操作方法或步骤控制开关阀对202。于是，用户可以根据预设的操作方法，控制开关阀组中的各个充气阀和放气阀的开闭，以控制各个牵引子构件的充气和放气，即以带动顶部构件实现对颈部的各种预定牵引活动。例如，如上文所述，针对颈部的预定牵引运动包括矢状面的前屈/后伸运动、冠状面的左屈/右屈运动、水平面的旋转运动、垂直方向的拉伸牵引运动。
在根据本公开的一些实施例中，如图6所示，驱动装置200可以进一步包括设置在其外表面处的控制面板211，以用于接收用户指令。控制机构203可以被配置成根据用户指令控制开关阀对202。控制面板211可以包括电源开关按钮以用于接通电源，并且还可以包括与控制机构203以及存储器210连接的预定牵引活动选择接口(比如对应的物理按钮，或触摸屏)以用于选择预设牵引活动。进一步地，控制面板211还可以包括与每一开关阀对连接的各个单独接口(例如物理按钮或触摸屏)，以使得用户可以根据个人需要自由控制各个牵引子构件的收缩和伸展，从而实现对颈部的个性化牵引活动。
图7示出了根据本公开的一些实施例的训练仪的气动回路和控制原理图，其中的粗箭头表示气流方向，细实线箭头表示信号流向。如图7所示，在根据本公开的训练仪中，驱动装置通过控制机构203控制充气机构201和开关阀对202而对牵引构件103进行充气和放气。驱动装置的具体操作过程如下：当例如由中央控制器203控制气泵204开启时，来自气泵204的气体首先进入气袋205；随后到达进气阀207(其可以看作该气动回路系统的总开关，控制源气体向后续的流入)。当例如由控制机构203控制进气阀207打开时，气体流到气动三联件208。气动三联件208对流入的源气体进行减压处理，控制流入后续回路的气压最高值。经过减压处理之后，气体到达开关阀对的组，即与牵引构件103的各个牵引子构件分别对应的多个开关阀对202(包括充气阀202a和放气阀202b)。这时各个开关阀对相互配合控制以控制其对应牵引子构件的充气和放气，从而实现对应的牵引活动。进一步地，在上述过程中，第一和第二气压传感器206、202c还可以分别对气袋205和牵引构件103中的气压进行感测，且将感测的结果实时地传送给控制机构203。控制机构203可以基于第一和/或第二气压传感器206、202c所感测的压力来相应地控制气泵204和/或开关阀对202的开闭。
在根据本公开的一些实施例中，驱动装置可以进一步包括设置在放气阀202b的出气端处的消音器209，以在放气阀202b打开来对牵引构件103放气时降低排气噪声。
图8示出根据本公开的一些实施例的训练仪的各部件的物理连接图。如图8所示，气泵204包括一个或多个微型泵。可以根据微型泵204产生气体的流量，决定采用多少个微型泵同时供气，以保证足够的源气体产生。一个或多个(图中示出了两个)微型泵204可以通过气管和三通与气袋205连接在一起。此外，气泵204可以是电动泵或手动泵。
如图8所示，第一气压传感器206可以通过三通连接在微型气泵204和气袋205之间，以便实时感测气袋205内部压力值。同时在气袋端部可以引入压力表以直观地向用户呈现气袋205内部源气体的压力值。第一气压传感器206可以实时地把所感测的数据传送给控制机构，使得控制机构可以基于第一气压传感器206所感测的气袋205内的压力值控制气泵204的开启和关闭。示例性地，当感测的压力值高于控 制器内设定的压力值上限时，控制机构可以发出停止指令，控制微型泵停止工作；而当压力值低于控制器内设定的压力值下限时，控制机构可以发出开启指令，控制微型泵开始工作。第一气压传感器206的引入，使得可以将气袋205内源气体的压力控制在一个相对合理的范围内(上限和下限之间)，以避免因压力值过大或过小造成的问题。例如，气袋205内压力过大可能造成因无法承受而遭到破坏；而压力过小则可能无法充分驱动层叠结构伸展。
在根据本公开的一些实施例的训练仪中，开关阀对202可以采用电磁阀组。因为与其他类型的阀门相比，电磁阀反应更灵敏、响应时间短(例如可以短至几个毫秒)，是相对高速的开关阀，这使得层叠结构内的气体压力能够得到快速调节，以实现对颈部牵引运动的灵活而多样的控制，易于实现较为复杂的牵引动作，例如水平面上的旋转运动。此外，电磁阀结构简单、体积小巧、功耗较低，因而非常适合用于根据本公开的便携式训练仪。当然，开关阀对202也可以是电动阀组或其他类型驱动方式的阀组，只要其适合于灵敏(高速)控制和便携性的要求即可。
开关阀对202中的充气阀202a和放气阀202b可以通过三通连接在气路通道上，其中充气阀202a的进气端与充气机构201(即其中的气动三联件208)连接，出气端与三通连接；放气阀202b进气端与三通连接，出气端通向外界环境，即为相应的层叠结构1031-1038的放气口。应当注意，为了清楚起见，图6和7中仅示出了一个开关阀对，即一组充气阀和放气阀，而事实上，如图8所示，每个牵引子构件或层叠结构1031-1038可以对应一个开关阀对，即一个充气阀和一个放气阀。因而开关阀的总数是层叠结构1031-1038的2倍。举例而言，图8示出了8个层叠结构，于是与其对应的开关阀对共有8对开关阀，共16个单体开关阀，其中8个充气阀和8个放气阀。控制机构通过单独控制开关阀组中的各开关阀对，使之相互配合工作以实现相应的层叠结构的充气或放气(即加压或减压)以形成轴向伸缩，从而带动顶部气囊运动，实现对颈部的多自由度牵引运动。
在根据本公开的一些实施例中，如图8所示，消音器209被设置在放气阀202b的出气端处，以在放气阀202b打开来对层叠结构1031-1038放气时降低排气噪声。
图9示出了根据本公开的一些实施例的训练仪的工作流程图。在下文中，为了说明的目的，以8个牵引子构件为例进行描述，其在主体结构的位置分别人体的颈部周围的下述8个肌肉组织的位置对应：正后方的竖脊肌、位于左后方的左斜方肌、位于左侧的左胸锁乳突肌、位于左前方的左颈阔肌、位于正前方的胸骨舌骨肌、位于右前方的右颈阔肌、位于右侧的右胸锁乳突肌、位于右后方的右斜方肌。
一般地，根据本公开一些实施例的训练仪的工作流程包括如下步骤。首先，对8个牵引子构件进行预充气，使其伸展带动顶部气囊支撑着穿戴者的头部，使穿戴者的颈部保持直立状态。然后，通过对各个牵引子构件的充气和放气的控制实现多自由度牵引活动，例如矢状面的前屈和后伸运动、冠状面的左屈和右屈运动、水平面的旋转运动、垂直方向的拉伸牵引运动等。
在一个示例中，在用户穿戴上训练仪之后，如图9的流程图所示，在步骤S901中，用户可以通过触发例如控制面板上的电源开关开启训练仪。
接下来，在步骤S902中，控制机构开启充气机构的进气阀。与此同时，在步骤S902′中，控制机构开启气泵；随后，控制机构根据第一气压传感器所实时感测的气袋内的压力值控制气泵的开启和关闭。具体而言，在步骤S903′中，控制机构将实时感测的压力值与预设的阈值进行比较：如果所感测压力值大于预设的上限阈值，则在步骤S904′中关闭气泵；而如果所感测压力值小于预设的下限阈值，则维持气泵的开启，从而将气袋内的压力控制一个合理的范围中。上限阈值和下限阈值可以根据需要预先设定。
在步骤S902之后，操作流程进入预充气阶段。具体地，在步骤S903处，控制机构控制开关阀对开启所有充气阀门向牵引子构件充气加压。在充气过程中，在步骤S904处第二气压传感器实时感测牵引子构件中的气体压力是否达到预设的预充气压力阈值：如果达到，则在步骤S905处关闭充气阀，预充气阶段结束，否则继续保持充气阀打开进行充气，直到达到预设值为止。其中，上述用于界定预充气过程是否完成的气压预设值可以通过下述方法设定：首先，对牵引子构件进行预充气，直到牵引构件的伸展使得顶部构件刚好接触穿戴者的头部且穿戴者的颈部保持直立状态为止，随后测量此时牵引构件内部的气体压力值， 该压力值就可以作为上述预充气压力阈值。
在预充气结束之后，在步骤S906中，控制机构可以接收用户的输入指令，例如用户可以通过驱动装置上的控制面板或触摸屏输入具体的控制指令。该指令可以包括例如通过控制面板或触摸屏上的选择接口选择存储器中存储的预定的颈部牵引活动模式，或者用户例如通过面板上设置对应于每一开关阀对的单独接口(例如物理按钮或触控按钮)指定的具体牵引动作以形成对颈部的个性化牵引拉伸。另外，该控制指令还可以包括例如通过电源开关关闭训练仪的指令。
随后，在步骤S907和S907′中，控制机构对接收的用户输入指令进行判断，根据不同的指令执行不同的动作。首先在步骤S907中，判断指令是否为结束颈部训练，即关闭训练仪(或关断电源)，如果是，则工作流程进入结束步骤S911；如果不是，则进入下一个判断步骤S907′。在步骤S907′中，如果接收的指令是用户选择的预定牵引模式，则工作流程进入步骤S908，控制机构基于存储器中存储的预定牵引活动的具体过程控制开关阀对的开闭；如果指令为用户输入的个性化牵引活动，则工作流程进入步骤S909，控制机构基于用户输入的各牵引子构件的具体动作控制开关阀对的开闭。在结束步骤S911中，控制机构可以控制开关阀对以使各牵引子构件完全放气，然后关闭电源开关、关闭总进气阀和开关阀对。
在上述牵引活动步骤S908或S909完成后，进入步骤S910，控制机构可以控制牵引子构件恢复或维持预充气状态，等待下一次操作指令，即转到步骤S906。随后，控制机构根据用户再次输入的指令判断是重新执行牵引动作(S908或S909)，还是完全结束颈部训练(S911)。
下面以与竖脊肌对应的第一牵引子构件以及与之对应的电磁阀对为例，描述开关阀对如何实现对牵引子构件的充气和放气。对应于第一牵引子构件的开关阀对包括充气阀和放气阀，二者配合使用可以使第一牵引子构件处于下述三种状态之一：充气、保持、放气。具体而言，当充气阀开启且放气阀关闭时，源气体通过充气阀进入第一牵引子构件，第一牵引子构件处于充气加压状态，使其伸展产生轴向推动力，从而向上拉伸颈部的相应局部；当充气阀关闭且放气阀关闭时，外部源气体无法进入且内部气体也无法流出，第一牵引子构件内部的气压保持原状态，这时对颈部没有任何影响；当充气阀关闭且放气阀 打开时，内部气体通过放气阀进入外部环境中，第一牵引子构件处于放气减压状态，使其伸展产生轴向回缩力，从而向下牵引颈部的相应局部。显然，充气阀和放气阀不能同时开启，因为这样从充气阀进入的外部源气体将会直接从放气阀流出到外部环境中，这样无法对第一牵引子构件的内部压力产生任何影响，但却浪费了充气机构(即气泵)产生的源气体，这是得不偿失的。
上面描述如何通过利用开关阀对充气和放气控制单个牵引子构件的伸缩以实现轴向运动。接下来，基于上文参照图2e描述的根据本公开的训练仪的牵引构件的工作原理，描述多个可充气牵引子构件如何通过充气和/或放气操作来相互配合以完成对颈部的多自由度牵引活动。为了表述清楚起见，所述多个牵引子构件为分别对应于正后方的竖脊肌、位于左后方的左斜方肌、位于左侧的左胸锁乳突肌、位于左前方的左颈阔肌、位于正前方的胸骨舌骨肌、位于右前方的右颈阔肌、位于右侧的右胸锁乳突肌、位于右后方的右斜方肌的第一至第八可充气层叠结构，顶部和底部构件均为气囊。
例如，根据本公开的训练仪可以如下方式实现4自由度牵引活动：
第一自由度的矢状面的前屈/后伸运动：对第一层叠结构充气加压，使其在轴向进行伸展运动，同时对第五层叠结构放气减压，使其在轴向进行回缩运动，从而推动顶部支架和顶部气囊进行矢状面的前屈运动，以带动穿戴者的颈部完成矢状面的前屈运动；相反，对第五层叠结构充气加压，使其在轴向进行伸展运动，同时对第一层叠结构放气减压，使其在轴向进行回缩运动，从而带动穿戴者的颈部完成矢状面的后伸运动。
第二自由度的冠状面的右屈/左屈运动：对第三层叠结构充气加压，使其在轴向进行伸展运动，同时对第七层叠结构放气减压，使其在轴向进行回缩运动，从而带动穿戴者的颈部完成冠状面的右屈运动；相反，对第七层叠结构充气加压，使其在轴向进行伸展运动，同时对第三层叠结构放气减压，使其在轴向进行回缩运动，从而带动穿戴者的颈部完成冠状面的左屈运动。
第三自由度的水平面选择运动：对第一至第八层叠结构按照顺时针依次进行充气加压，使它们在轴向依次进行伸展运动，同时对与正在进行充气加压的层叠结构位置相对的层叠结构进行放气减压，使它 们在轴向依次进行回缩运动，从而可以带动穿戴者的颈部完成水平面的顺时针旋转运动；相反地，对第一至第八层叠结构按照逆时针依次进行充气加压，使它们在轴向依次进行伸展运动，同时对与正在进行放气减压的层叠结构位置相对的层叠结构进行放气减压，使它们在轴向依次进行回缩运动，从而可以带动穿戴者的颈部完成水平面的逆时针旋转运动。
第四自由度的竖直方向拉伸运动：同时对8个层叠结构进行充气加压，使它们在竖直的轴向同时进行伸展运动，可以带动穿戴者的颈部完成竖直方向的拉伸运动。
应当注意，本文所述的“控制机构”可以采用能够收发信号并对信息和数据进行运算和处理并自动化运行的通用控制机构(芯片)、单片机等，而且可以包括用于直接驱动相应部件(例如充气机构和开关阀组等)的驱动电路或其他类型的驱动设备(这取决于驱动方式，比如电动、液压、气压、电磁等)。为了表述清楚和简化起见，本文中省略了这些驱动设备或驱动电路，直接表述成由控制机构来控制驱动装置中的各个部件，例如充气机构和开关阀组。另外，驱动装置也可以包括为各个部件以及驱动电路供电的电源(固定电源(市电)或移动电源(电池))，而且必要时电源可以经过降压稳压电路(变压器)之后对驱动电路和控制机构进行供电。
此外，本文所述的“可拆卸连接”是指通过诸如粘接、卡接、铆接、螺纹连接、过赢配合等可拆解和/或可移除的连接方式将两个构件连接到一起，并可通过诸如加热、拉拽、按压、冲击、振动等方式在不破坏和/或损毁该A构件和B构件的情况下将A构件和B构件之间连接去除，以便于更换和元件的回收利用。
应当注意，在权利要求书中，动词“包括/包含”及其变体的使用并没有排除存在权利要求中未陈述的元件或步骤。措词“一”或“一个”并没有排除多个。
尽管已经示出和描述了本公开的特定实施例，但是对于本领域技术人员显然的是，可以在不脱离公开的情况下在其更宽的方面做出若干改变和修改，因此，所附权利要求书应当在其范围内包含所有这样的改变和修改，如同落入本公开的真实精神和范围之内。

Claims (21)

  1. 一种训练仪，包括：
    顶部构件，
    底部构件，以及
    设置在顶部构件与底部构件之间的牵引构件，
    其中所述牵引构件配置成沿所述顶部构件或底部构件的轴向可伸缩以实现所述顶部构件与底部构件之间的相对运动。
  2. 根据权利要求1所述的训练仪，其中所述牵引构件包括多个牵引子构件，所述多个牵引子构件的每一个配置成独立地沿所述轴向可伸缩。
  3. 根据权利要求2所述的训练仪，进一步包括：
    设置在顶部构件和牵引构件之间的顶部支架，以及
    设置在底部构件和牵引构件之间的底部支架。
  4. 根据权利要求3所述的训练仪，所述顶部支架和底部支架为环状结构，所述多个牵引子构件设置在所述底部支架上与所述顶部支架连接，所述多个牵引子构件沿着所述环状结构依次间隔设置。
  5. 根据权利要求4所述的训练仪，其中所述多个牵引子构件中的每一个包括可充气的层叠结构，所述层叠结构中的各叠层沿着所述底部构件朝向所述顶部构件的方向堆叠设置，所述层叠结构配置成在未充气状态下呈扁平状，在充气状态下呈伸展状，并且通过充气和放气来实现所述顶部构件与底部构件之间的相对运动。
  6. 根据权利要求5所述的训练仪，其中所述多个牵引子构件的数量为7-9个。
  7. 根据权利要求6所述的训练仪，其中所述层叠结构包括多个相互堆叠且连通的橡胶管。
  8. 根据权利要求7所述的训练仪，其中在所述层叠结构中，顶部橡胶管和底部橡胶管分别具有一个开口，位于顶部橡胶管与底部橡胶管之间的橡胶管具有上下两个开口，相邻橡胶管通过相邻的开口连通。
  9. 根据权利要求8所述的训练仪，其中所述顶部橡胶管和底部橡胶管中的每一个的靠近相邻橡胶管的一侧设置有两个位于开口两侧且沿着开口方向延伸的卡槽，
    所述顶部支架的靠近所述橡胶管的一侧设置有与所述顶部橡胶管的卡槽相匹配连接的第一卡槽；所述底部支架的靠近所述橡胶管的一侧设置有与所述底部橡胶管的卡槽相匹配连接的第二卡槽。
  10. 根据权利要求9所述的训练仪，其中所述顶部支架远离橡胶管的一侧设置有第一凹槽，所述第一凹槽配置成容纳所述顶部构件；所述底部支架远离橡胶管的一侧设置有第二凹槽，所述第二凹槽配置成容纳所述底部构件。
  11. 根据权利要求10所述的训练仪，其中所述顶部构件和底部构件为圆环形气囊。
  12. 根据权利要求11所述的训练仪，其中所述顶部构件的圆环形气囊包括：
    缺口，以及两个凸起，所述两个凸起为与所述圆环形气囊一体式设计的可充气结构。
  13. 根据权利要求1-11任一项所述的训练仪，进一步包括配置成控制所述多个牵引子构件伸缩的驱动装置，其中所述驱动装置包括：
    配置成对每一个层叠结构充气的充气机构；
    配置成分别控制各个层叠结构充气和放气的多个开关阀对，每个开关阀对包括充气阀和放气阀；以及
    配置成控制所述充气机构和所述多个开关阀对的控制机构。
  14. 根据权利要求13所述的训练仪，其中所述充气阀和放气阀为电磁阀或电动阀，并且所述充气阀和放气阀是可独立控制的。
  15. 根据权利要求14所述的训练仪，其中所述充气机构包括：
    一个或多个气泵，其配置成产生源气体；
    气袋，其配置成与所述气泵连接以存储所述源气体；
    与气袋的出气端连接的进气阀，
    其中所述控制机构配置成控制进气阀的开闭。
  16. 根据权利要求15所述的训练仪，其中所述充气机构进一步包括：
    连接在气泵与气袋之间的第一气压传感器，其配置成感测气袋的内部压力，
    其中所述控制机构配置成：
    将第一气压传感器所感测的压力与预设的上限阈值和下限阈值进 行比较，并且
    在所感测的压力大于上限阈值时关闭气泵，而在所感测的压力小于下限阈值时开启气泵。
  17. 根据权利要求14所述的训练仪，其中所述多个开关阀对中的每一个进一步包括：
    设置在充气阀的出气端的第二气压传感器，其配置成感测所述层叠结构中的气压，
    其中控制机构配置成根据第二气压传感器所感测的气压而开启或关闭充气阀和/或放气阀。
  18. 根据权利要求16所述的训练仪，其中所述充气机构进一步包括：
    连接在进气阀与开关阀对之间的气动三联件，其配置成控制流入层叠结构的最高压力值。
  19. 根据权利要求13所述的训练仪，其中所述驱动装置进一步包括存储器，其配置成存储关于预定牵引动作的操作步骤，并且所述控制机构配置成根据存储器中所存储的预定牵引动作的操作步骤控制所述多个开关阀对。
  20. 根据权利要求13或14所述的训练仪，其中所述多个开关阀对中的每一个所述放气阀包括消音器，所述消音器设置在所述放气阀的出气端。
  21. 根据权利要求19所述的训练仪，其中所述预定牵引动作包括矢状面的前屈和后伸运动、冠状面的左屈和右屈运动、水平面的旋转运动、垂直方向的拉伸牵引运动。
PCT/CN2019/075353 2018-06-20 2019-02-18 训练仪 WO2019242316A1 (zh)

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